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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/22720

Title: Communication-aware convoy following guidance for UAVs in a complex urban environment
Authors: Oh, Hyondong
Shin, Hyo-Sang
Kim, Seungkeun
Ladosz, Pawel
Chen, Wen-Hua
Keywords: Unmanned aerial vehicles
Urban areas
Issue Date: 2016
Publisher: © IEEE
Citation: OH, H. ... et al, 2016. Communication-aware convoy following guidance for UAVs in a complex urban environment. 24th Mediterranean Conference on Control and Automation (MED 2016), Athens, Greece, 21st-24th June 2016, pp. 1230-1235.
Abstract: This paper proposes a communication-aware trajectory planning approach for UAVs to relay data/information (e.g. live surveillance feed) between a ground control station and friendly ground vehicles (a convoy) moving in a complex urban area. UAVs are controlled to stay: i) within the communication-feasible area (having a direct line-of-sight to the moving convoy and within the maximum communication range) and ii) as close as possible to the convoy to have better communication quality, while satisfying their kinematic and dynamic constraints. Numerical simulations and a proof-of-concept indoor flight test have been performed to validate the benefit and feasibility of the proposed algorithm.
Description: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor: This work was supported by the UK Engineering and Physical Science Research Council (EPSRC) under the Grant EP/J011525/1.
Version: Accepted for publication
DOI: 10.1109/MED.2016.7535884
URI: https://dspace.lboro.ac.uk/2134/22720
Publisher Link: http://dx.doi.org/10.1109/MED.2016.7535884
ISBN: 9781467383455
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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