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research article

Evaluation of control strategies for fixed-wing drones following slow-moving ground agents

Varga, Maja  
•
Zufferey, Jean-Christophe  
•
Heitz, Grégoire Hilaire Marie  
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2015
Robotics and Autonomous Systems

There are many situations where fixed-wing drones may be required to track ground moving agents, such as humans or cars, which are typically slower than drones. Some control strategies have been proposed and validated in simulations using the average distance between the target and the drone as a performance metric. However, besides the distance metric, energy expenditure of the flight also plays an important role in assessing the overall performance of the flight. In this paper, we propose a new methodology that introduces a new metric (energy expenditure), we compare existing methods on a large set of target motion patterns and present a comparison between the simulation and field experiments on proposed target motion patterns. Using this new methodology we examine the performance of three control strategies: the Lyapunov Guidance Vector Field strategy, the Bearing-only strategy and the Oscillatory strategy. Among the three strategies considered, we demonstrate that the Lyapunov Guidance Vector Field strategy has the best performance for all target motion patterns. Field experiments with fixed-wing drones provide additional insights into the benefits and shortcomings of each strategy in practice.

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Type
research article
DOI
10.1016/j.robot.2015.06.003
Web of Science ID

WOS:000359170500024

Author(s)
Varga, Maja  
Zufferey, Jean-Christophe  
Heitz, Grégoire Hilaire Marie  
Floreano, Dario  
Date Issued

2015

Publisher

Elsevier

Published in
Robotics and Autonomous Systems
Volume

72

Start page

285

End page

294

Subjects

Target Tracking

•

Fixed-wing UAVs

•

Aerial Robotics

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

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LIS  
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/115523
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