TY - GEN
T1 - Perception-Aware Motion Control of Multiple Aerial Vehicle Transportation Systems
AU - Jiang, Mingfei
AU - Zuo, Mingshuo
AU - Yu, Xinming
AU - Guo, Rong
AU - Wang, Ruixi
AU - Yu, Yushu
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - How to ensure that multiple aerial vehicle transportation systems can accurately track a target despite the dynamical constraints? In a general Unmanned Aerial System, the system can identify the target by sensors to adjust its flight status. However, for Multiple Aerial Vehicle Transportation Systems, if each unmanned aerial vehicle has sensors with different fields of view on board, it creates conflicts in the system and does not enable proper sensing. Moreover, the added perceptual requirements in the system will also cause conflicts with the corresponding flight dynamics constraints and will have some impact on the flight path. In this regard, we add a perception model for Multiple Aerial Vehicle Transportation Systems in Model Predictive Control to solve these conflicting problems. In this paper, we first add a perceptual constraint model of the transportation system with the camera as the sensor to the previously established dynamics simulation model. And the model is applied to multiple UAVs so that multiple cameras can aim at the same target for tracking. Then, we can solve feasible UAV motion states by incorporating the MPC of the perception model. In this way, we provide a feasible method for multi-sensor information fusion for Multiple Aerial Vehicle Transportation Systems. Finally, the simulation results demonstrate the effectiveness of the method.
AB - How to ensure that multiple aerial vehicle transportation systems can accurately track a target despite the dynamical constraints? In a general Unmanned Aerial System, the system can identify the target by sensors to adjust its flight status. However, for Multiple Aerial Vehicle Transportation Systems, if each unmanned aerial vehicle has sensors with different fields of view on board, it creates conflicts in the system and does not enable proper sensing. Moreover, the added perceptual requirements in the system will also cause conflicts with the corresponding flight dynamics constraints and will have some impact on the flight path. In this regard, we add a perception model for Multiple Aerial Vehicle Transportation Systems in Model Predictive Control to solve these conflicting problems. In this paper, we first add a perceptual constraint model of the transportation system with the camera as the sensor to the previously established dynamics simulation model. And the model is applied to multiple UAVs so that multiple cameras can aim at the same target for tracking. Then, we can solve feasible UAV motion states by incorporating the MPC of the perception model. In this way, we provide a feasible method for multi-sensor information fusion for Multiple Aerial Vehicle Transportation Systems. Finally, the simulation results demonstrate the effectiveness of the method.
KW - Model predictive control
KW - Multiple Aerial Vehicle Transportation Systems
KW - Perception
UR - http://www.scopus.com/inward/record.url?scp=85149814474&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-0617-8_33
DO - 10.1007/978-981-99-0617-8_33
M3 - Conference contribution
AN - SCOPUS:85149814474
SN - 9789819906161
T3 - Communications in Computer and Information Science
SP - 474
EP - 488
BT - Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
A2 - Sun, Fuchun
A2 - Cangelosi, Angelo
A2 - Zhang, Jianwei
A2 - Yu, Yuanlong
A2 - Liu, Huaping
A2 - Fang, Bin
PB - Springer Science and Business Media Deutschland GmbH
T2 - 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Y2 - 17 December 2022 through 18 December 2022
ER -