Artículo
Improving tracking of trajectories through tracking rate regulation: application to UAVs
Autor/es | Díaz del Río, Fernando
Sánchez Cuevas, Pablo Íñigo Blasco, Pablo Sevillano Ramos, José Luis |
Departamento | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Fecha de publicación | 2022-12 |
Fecha de depósito | 2023-01-19 |
Publicado en |
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Resumen | The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the ... The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the path. “Trajectory tracking” is the most common method, with the controller aiming to move the robot toward a moving target point, like in a real-time servosystem. In the case of complex systems or systems under perturbations or unmodeled effects, such as UAVs (Unmanned Aerial Vehicles), other tracking methods can offer additional benefits. In this paper, methods that consider the dynamics of the path’s descriptor parameter (which can be called “error adaptive tracking”) are contrasted with trajectory tracking. A formal description of tracking methods is first presented, showing that two types of error adaptive tracking can be used with the same controller in any system. Then, it is shown that the selection of an appropriate tracking rate improves error convergence and robustness for a UAV system, which is illustrated by simulation experiments. It is concluded that error adaptive tracking methods outperform trajectory tracking ones, producing a faster and more robust convergence tracking, while preserving, if required, the same tracking rate when convergence is achieved. |
Agencias financiadoras | Fondo Europeo de Desarrollo Regional (FEDER) Junta de Andalucía Agencia Estatal de Investigación |
Identificador del proyecto | PID2019-110455GB-I00
US-1381077 |
Cita | Díaz del Río, F., Sánchez Cuevas, P., Íñigo Blasco, P. y Sevillano Ramos, J.L. (2022). Improving tracking of trajectories through tracking rate regulation: application to UAVs. Sensors, 22 (24), 9795. https://doi.org/10.3390/s22249795. |
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