Cooperative Orientation Control of Fixed-Wing Drones Using Relative Jacobian

Rodrigo S. Jamisola, Thato Elijah, Olebogeng Mbedzi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a relative Jacobian control on cooperative fixed-wing drones in terms of relative orientation. The thrust force is maintained at a constant value while controlling the orientation of one fixed-wing drone with respect to the other. This research work presents the pertinent equations to achieve relative orientation control as well as their derivations. It is known that relative Jacobian control releases unnecessary constraints in cooperative manipulation, and is capable of more systematic task prioritization. To the best of our knowledge, this work is the first attempt to use relative Jacobian in cooperative fixed-wing drones. One fixed-wing drone is called the end-effector drone while the other is called the base drone. The end-effector drone moves with respect to the base drone. The control of the relative orientation of the end-effector drone with respect to the base drone is the main task of the relative Jacobian control. While the control of the absolute orientation of the base drone is the secondary task. Simulations in Gazebo are shown using ROSflight package where the roll, pitch, and yaw of the end-effector can be controlled with respect to the base drone.

Original languageEnglish
Title of host publicationProceedings - 2nd International Conference on Smart Electronics and Communication, ICOSEC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages566-573
Number of pages8
ISBN (Electronic)9781665433686
DOIs
Publication statusPublished - 2021
Event2nd International Conference on Smart Electronics and Communication, ICOSEC 2021 - Trichy, India
Duration: Sep 7 2021Sep 9 2021

Publication series

NameProceedings - 2nd International Conference on Smart Electronics and Communication, ICOSEC 2021

Conference

Conference2nd International Conference on Smart Electronics and Communication, ICOSEC 2021
Country/TerritoryIndia
CityTrichy
Period9/7/219/9/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Instrumentation

Fingerprint

Dive into the research topics of 'Cooperative Orientation Control of Fixed-Wing Drones Using Relative Jacobian'. Together they form a unique fingerprint.

Cite this