Vertaisarvioitu artikkeli konferenssijulkaisussa (A4)

Navigation System For Landing A Swarm Of Autonomous Drones On A Movable Surface




Julkaisun tekijät: Anam Tahir, Jari Böling, Mohammad-Hashem Haghbayan, Juha Plosila

Konferenssin vakiintunut nimi: International ECMS Conference on Modelling and Simulation

Julkaisuvuosi: 2020

Journal: Proceedings: European Conference for Modelling and Simulation

Kirjan nimi *: Proceedings of the 34th International ECMS Conference on Modelling and Simulation ECMS 2020, June 2020, United Kingdom

Sarjan nimi: Communications of the ECMS

Numero sarjassa: 1

Volyymi: 34

ISBN: 978-3-937436-68-5

ISSN: 2522-2414

DOI: http://dx.doi.org/10.7148/2020-0168

Verkko-osoite: http://www.scs-europe.net/dlib/2020/2020-0168.htm


Tiivistelmä

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.


Last updated on 2021-24-06 at 10:29