Bounded distance control for Multi-UAV formation safety and preservation in target-tracking applications. (May 2023)

• Record Type: Journal Article
• Authors: Hegde, Aditya; Aloor, Jasmine Jerry; Ghose, Debasish
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 237:Number 6(2023)
• Page Start: 1403
• Page End: 1416
• Publication Date: 2023-05
• Subjects: barrier Lyapunov function -- quadratic Lyapunov function -- robot operating system -- multi-objective control -- distributed control -- formation control -- target tracking -- safety; Aeronautics -- Periodicals; Astronautics -- Periodicals; Airplanes -- Design and construction -- Periodicals; Aerospace industries -- Periodicals; 629.1
• DOI: 10.1177/09544100221125970
• Languages: English
• ISSNs: 0954-4100

Abstract

The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV distances in the formation in order to ensure safe operation. In doing so, we address the problem of prioritizing specific objectives over others in a multi-objective control framework. We propose a barrier Lyapunov function-based distributed control law to enforce the bounds on the distances and assess its Lyapunov stability using a kinematic model. The theoretical analysis is supported by numerical results, which account for measurement noise and moving targets. Straight-line and circular motion of the target are considered, and results for quadratic Lyapunov function-based control, often used in multi-agent multi-objective problems, are also presented. A comparison of the two control approaches elucidates the advantages of our proposed safe-control in bounding the inter-agent distances in a formation. A concluding evaluation using Robot Operating System simulations illustrates the practical applicability of the proposed control to a pair of multi-rotors visually estimating and maintaining their mutual separation within specified bounds, as they track a moving target.