Comm_Aware_Tracking.pdf (3.96 MB)
Communication-aware convoy following guidance for UAVs in a complex urban environment
conference contribution
posted on 2016-10-07, 08:35 authored by Hyondong Oh, Hyo-Sang Shin, Seungkeun Kim, Pawel Ladosz, Wen-Hua ChenWen-Hua ChenThis paper proposes a communication-aware trajectory planning approach for UAVs to relay data/information (e.g. live surveillance feed) between a ground control station and friendly ground vehicles (a convoy) moving in a complex urban area. UAVs are controlled to stay: i) within the communication-feasible area (having a direct line-of-sight to the moving convoy and within the maximum communication range) and ii) as close as possible to the convoy to have better communication quality, while satisfying their kinematic and dynamic constraints. Numerical simulations and a proof-of-concept indoor flight test have been performed to validate the benefit and feasibility of the proposed algorithm.
Funding
This work was supported by the UK Engineering and Physical Science Research Council (EPSRC) under the Grant EP/J011525/1.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
24th Mediterranean Conference on Control and Automation 24th Mediterranean Conference on Control and Automation, MED 2016Pages
1230 - 1235Citation
OH, H. ... et al, 2016. Communication-aware convoy following guidance for UAVs in a complex urban environment. 24th Mediterranean Conference on Control and Automation (MED 2016), Athens, Greece, 21st-24th June 2016, pp. 1230-1235.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Acceptance date
2016-05-06Publication date
2016Notes
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISBN
9781467383455Publisher version
Language
- en