Abstract
This paper proposes a vector field guidance law for a team of Unmanned Aircraft (UA) to track a stationary target in a circular path at a fixed stand-off radius from the position of the target. A phasing Lyapunov function is also given and, using the Lyapunov stability analysis it is ensured that the two UA will maintain a constant phase difference between them once they converge to the stand-off radius. To counter the effect of a constant background wind, the vector guidance law is modified using a variable scaling factor. During the transient phase, i.e., before converging to the stand-off radius, the possibility of having a collision between the two UA is avoided by using a Control Barrier Function (CBF) approach to generate constraint based input control functions which avoids the collision between the two UA. We also propose an algorithm for periodic and event-based communication to reduce the frequency of the information exchange between UA. Simulation results for the cases of constant communication between the two UA, periodic communication, and an event-based communication are presented which verifies the efficacy of the proposed methodology.
The authors acknowledge the financial support of the Foundation for Science and Technology (FCT/MCTES) in the framework of the Associated Laboratory - Advanced Production and Intelligent Systems (AL ARISE, ref. LA/P/0112/2020), the R &D Unit SYSTEC (Base UIDB/00147/2020 and Programmatic UIDP/00147/2020 funds), and project RELIABLE - Advances in control design methodologies for safety critical systems applied to robotics (ref. PTDC/EEI-AUT/3522/2020) both funded by national funds through the FCT/MCTES (PIDDAC). The first author was supported by a Ph.D. Scholarship, grant 2022.11199. BD from FCT, Portugal.
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Notes
- 1.
An extended class \(\mathscr {K}_\infty \) function \(\beta : \mathbb {R} \rightarrow \mathbb {R}\) is strictly increasing with \(\beta (0) = 0\).
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Anand, P., Aguiar, A.P., Sujit, P.B. (2024). Coordinated Tracking of a Stationary Target in the Presence of Wind with Collision Avoidance Guarantees. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_11
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