Name: VINICIUS PACHECO BACHETI

Publication date: 05/03/2021
Advisor:

Name	Role
MARIO SARCINELLI FILHO	Advisor *

Examining board:

Name	Role
ALEXANDRE SANTOS BRANDÃO	Co advisor *
ELIETE MARIA DE OLIVEIRA CALDEIRA	External Examiner *
JOSE LEANDRO FÉLIX SALLES	Internal Examiner *
LUCAS VAGO SANTANA	External Examiner *
MARIO SARCINELLI FILHO	Advisor *

Summary: This MSc thesis discusses the accomplishment of a path following task by a formation of an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV). The idea undergoing s uch application is that the UAV is coming back after delivering a package, and should land on the UGV, its reference
base, which can be stopped or continuing to follow its route in a street or a road. A high level controller is designed to guide the format ion, based on the virtual structure paradigm, and includes an obstacle avoidance algorithm to take into account the possibility that the UGV, the reference for the formation,
faces an obstacle in its path, such as another vehicle, for instance. After descr ibing the proposed controller and the obstacle avoidance algorithm in details, simulated and experimental results are shown and discussed, which validate the proposed controller and obstacle avoidance algorithm.

Access to document