Multi-UAV Specification and Control with a Single Pilot-in-the-Loop

PATRICIO MORENO; SANTIAGO ESTEVA; IGNACIO MAS; JUAN I. GIRIBET

Madrid

Congreso; 11th International Micro Air Vehicle Competition and Conference (IMAV 2019); 2019

IMAV

This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the cluster-spacerobot coordination method. The controller isaugmented with a feed-forward input from a control station operator. This teleoperation input isgenerated by means of a remote control, as asimple way of modifying the trajectory or tak-ing over control of the formation during flight.The cluster-space formulation presents a simplespecification of the system?s motion and, in thiswork, the operator benefits from this capabilityto easily evade obstacles by means of controllingthe cluster parameters in real time. The proposedaugmented controller is tested in a simulated en-vironment first, and then deployed for outdoorfield experiments. Results are shown in differ-ent scenarios using a cluster of three autonomous unmanned aerial vehicles.