Refereed article in conference proceedings (A4)
Navigation System For Landing A Swarm Of Autonomous Drones On A Movable Surface
List of Authors: Anam Tahir, Jari Böling, Mohammad-Hashem Haghbayan, Juha Plosila
Editors: Mike Steglich, Christian Mueller, Gaby Neumann, Mathias Walther
Conference name: International ECMS Conference on Modelling and Simulation
Publication year: 2020
Journal: Proceedings: European Conference for Modelling and Simulation
Book title *: Proceedings of the 34th International ECMS Conference on Modelling and Simulation ECMS 2020, June 2020, United Kingdom
Title of series: Communications of the ECMS
Number in series: 1
Volume number: 34
Start page: 168
End page: 174
ISBN: 978-3-937436-68-5
ISSN: 2522-2414
DOI: http://dx.doi.org/10.7148/2020-0168
URL: http://www.scs-europe.net/dlib/2020/2020-0168.htm
The development of a navigation system for the landing of a swarm of drones on a movable surface is one
of the major challenges in building a fully autonomous
platform. Hence, the purpose of this study is to investigate the behaviour of a swarm of ten drones under the mission of soft landing on a movable surface
that has a linear speed with the effect of oscillations.
This swarm, arranged in a leader–follower hierarchical
manner, has distributed control units based on Linear
Quadratic Regulator control with integral action technique. Furthermore, to prevent drones from landing arbitrarily, the leader drone takes the feedback of translational coordinates from the movable surface and adjusts
its position accordingly. Hence, each follower tracks
the leader’s trail with offsets, taking collision avoidance
into account. The design parameters of controllers are
mapped in a way that the simulations demonstrate the
feasibility and great potential of the proposed method.
