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Communication-aware convoy following guidance for UAVs in a complex urban environment

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conference contribution
posted on 07.10.2016, 08:35 by Hyondong Oh, Hyo-Sang Shin, Seungkeun Kim, Pawel Ladosz, Wen-Hua ChenWen-Hua Chen
This 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 2016

Pages

1230 - 1235

Citation

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

© IEEE

Version

AM (Accepted Manuscript)

Acceptance date

06/05/2016

Publication date

2016

Notes

© 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

9781467383455

Language

en

Location

Athen, Greece