Tilted Circumnavigation of Multiple Drones Around Multiple Targets
Existing strategies for coordinating a group of drones to follow a moving circular path while maintaining a specified distance between them (not necessarily identical) have generally involved circumnavigation around a single target or tracking an ellipse around multiple targets. The main drawback of...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10322751/ |
| _version_ | 1797319559143751680 |
|---|---|
| author | Mirzobek Malikov Vladimir Shin Yoonsoo Kim |
| author_facet | Mirzobek Malikov Vladimir Shin Yoonsoo Kim |
| author_sort | Mirzobek Malikov |
| collection | DOAJ |
| description | Existing strategies for coordinating a group of drones to follow a moving circular path while maintaining a specified distance between them (not necessarily identical) have generally involved circumnavigation around a single target or tracking an ellipse around multiple targets. The main drawback of tracking an ellipse is the difficulty of maintaining a constant velocity due to the variation in curvature around the ellipse. In this study, a novel strategy was developed so that drones track a tilted circle in the air whose projection becomes an ellipse on the ground that encloses multiple moving targets. By tracking a tilted circle, the drones can maintain an almost constant velocity while changing altitudes slightly with no inter-vehicle collision, which is technically much easier than tracking an ellipse directly in the air. To complete the tilted circumnavigation task, a vector-field guidance law followed by integral sliding-mode control was designed so that the following three conditions are satisfied under bounded disturbances: 1) all drones reach the plane of the tilted circle in the steady state; 2) each drone turns around the tilted circle’s center with a time-varying radius in the steady state; and 3) drones avoid colliding with each other at all times. Numerical simulations showed that the proposed strategy was effective in situations mimicking real-life scenarios. |
| first_indexed | 2024-03-08T04:09:41Z |
| format | Article |
| id | doaj.art-869d2e3180fc4f08802702f299a09e52 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-08T04:09:41Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-869d2e3180fc4f08802702f299a09e522024-02-09T00:00:50ZengIEEEIEEE Access2169-35362023-01-011113291613292910.1109/ACCESS.2023.333426410322751Tilted Circumnavigation of Multiple Drones Around Multiple TargetsMirzobek Malikov0Vladimir Shin1https://orcid.org/0000-0001-7742-8484Yoonsoo Kim2https://orcid.org/0000-0002-0357-9826Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of KoreaGraduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of KoreaGraduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of KoreaExisting strategies for coordinating a group of drones to follow a moving circular path while maintaining a specified distance between them (not necessarily identical) have generally involved circumnavigation around a single target or tracking an ellipse around multiple targets. The main drawback of tracking an ellipse is the difficulty of maintaining a constant velocity due to the variation in curvature around the ellipse. In this study, a novel strategy was developed so that drones track a tilted circle in the air whose projection becomes an ellipse on the ground that encloses multiple moving targets. By tracking a tilted circle, the drones can maintain an almost constant velocity while changing altitudes slightly with no inter-vehicle collision, which is technically much easier than tracking an ellipse directly in the air. To complete the tilted circumnavigation task, a vector-field guidance law followed by integral sliding-mode control was designed so that the following three conditions are satisfied under bounded disturbances: 1) all drones reach the plane of the tilted circle in the steady state; 2) each drone turns around the tilted circle’s center with a time-varying radius in the steady state; and 3) drones avoid colliding with each other at all times. Numerical simulations showed that the proposed strategy was effective in situations mimicking real-life scenarios.https://ieeexplore.ieee.org/document/10322751/Circumnavigationcoverage ellipseintegral sliding model control (I-SMC)multiple target trackingunmanned aerial vehicles (UAVs) |
| spellingShingle | Mirzobek Malikov Vladimir Shin Yoonsoo Kim Tilted Circumnavigation of Multiple Drones Around Multiple Targets IEEE Access Circumnavigation coverage ellipse integral sliding model control (I-SMC) multiple target tracking unmanned aerial vehicles (UAVs) |
| title | Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
| title_full | Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
| title_fullStr | Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
| title_full_unstemmed | Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
| title_short | Tilted Circumnavigation of Multiple Drones Around Multiple Targets |
| title_sort | tilted circumnavigation of multiple drones around multiple targets |
| topic | Circumnavigation coverage ellipse integral sliding model control (I-SMC) multiple target tracking unmanned aerial vehicles (UAVs) |
| url | https://ieeexplore.ieee.org/document/10322751/ |
| work_keys_str_mv | AT mirzobekmalikov tiltedcircumnavigationofmultipledronesaroundmultipletargets AT vladimirshin tiltedcircumnavigationofmultipledronesaroundmultipletargets AT yoonsookim tiltedcircumnavigationofmultipledronesaroundmultipletargets |