Browsing by Author "Aguiar, A. Pedro"
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- A convoy protection strategy using the moving path following methodPublication . Oliveira, Tiago; Aguiar, A. Pedro; Encarnação, PedroThis paper considers the problem of convoy protection missions using a fixed-wing Unmanned Aerial Vehicle (UAV) in scenarios where the radius of the circular region of interest around the convoy is smaller than the UAV minimum turning radius. Using the Moving Path Following (MPF) method, we propose a guidance algorithmic strategy where a UAV moving at constant ground speed is required to converge to and follow a desired geometric moving path that is attached to the convoy center. Conditions under which the proposed strategy solves the convoy problem are derived. A performance metric that is proposed together with numerical simulation results demonstrate the effectiveness of the proposed approach.
- Moving path following for unmanned aerial vehicles with applications to single and multiple target tracking problemsPublication . Oliveira, Tiago; Aguiar, A. Pedro; Encarnação, PedroThis paper introduces the moving path following (MPF) problem, in which a vehicle is required to converge to and follow a desired geometric moving path, without a specific temporal specification, thus generalizing the classical path following that only applies to stationary paths. Possible tasks that can be formulated as an MPF problem include tracking terrain/air vehicles and gas clouds monitoring, where the velocity of the target vehicle or cloud specifies the motion of the desired path. We derive an error space for MPF for the general case of time-varying paths in a two-dimensional space and subsequently an application is described for the problem of tracking single and multiple targets on the ground using an unmanned aerial vehicle (UAV) flying at constant altitude. To this end, a Lyapunov-based MPF control law and a path-generation algorithm are proposed together with convergence and performance metric results. Real-world flight tests results that took place in Ota Air Base, Portugal, with the ANTEX-X02 UAV demonstrate the effectiveness of the proposed method.