Path Planning and Formation Control for Multiple Quadrotor UAV Leader-Follower Systems

被引：0
|
作者：
Amangeldi, Arystan [1 ]
Kusdavletov, Sanzhar [1 ]
机构：
[1] Astana IT Univ, Dept Intelligent Syst & Cybersecur, Astana, Kazakhstan
来源：
2023 11TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION, ICCMA | 2023年
关键词：
Formation control; UAVs; RRT; Multi-agent systems;
D O I：
10.1109/ICCMA59762.2023.10374652
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the formation control system design for multiple quadcopters with path planning for territory surveillance. The development is manifested with nonlinear dynamic modelling, position and attitude control of the quadrotor UAVs followed by leader-follower formation control for multi-drone systems operated with Rapidly-exploring Random Trees (RRT) based path planner. The simulated experimental validation demonstrates practical potential of the proposed framework.
引用
收藏
页码：109 / 114
页数：6
相关论文
共 50 条
  • [31] Cooperative Location Method for Leader-Follower UAV Formation Based on Follower UAV's Moving Vector
    Zhu, Xudong
    Lai, Jizhou
    Chen, Sheng
    SENSORS, 2022, 22 (19)
  • [32] Leader-Follower Based Formation Control of Multiple Mobile Robots Using the Measurements of the Follower Robot
    Park, B.S. (bspark@chosun.ac.kr), 1600, Institute of Control, Robotics and Systems (19):
  • [33] Leader–follower formation control of two quadrotor UAVs
    Rifqi Rafifandi
    Dea Lana Asri
    Estiyanti Ekawati
    Eko Mursito Budi
    SN Applied Sciences, 2019, 1
  • [34] Research on multiple AUVs formation control algorithm based on leader-follower method
    Li J.
    Yuan R.
    Zhang H.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2019, 40 (06): : 237 - 246
  • [35] Formation Control of Multiple Wheeled Mobile Robots via Leader-Follower Approach
    Peng, Tao
    Li, Shan
    26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 4215 - 4220
  • [36] Systematic Dual Quaternion Based Controller Comparison for a Leader-Follower Quadrotor Formation
    Harrison Neves Marciano
    Daniel Khede Dourado Villa
    Mário Sarcinelli-Filho
    Juan Ignacio Giribet
    Journal of Intelligent & Robotic Systems, 111 (2)
  • [37] Robust leader-follower formation tracking control of multiple underactuated surface vessels
    Zhou-hua Peng
    Dan Wang
    Wei-yao Lan
    Gang Sun
    China Ocean Engineering, 2012, 26 : 521 - 534
  • [38] Leader-Follower Formation Control of Multiple Unmanned Aerial Vehicles for Omnidirectional Patrolling
    Kasugai, Kosuke
    Miyagawa, Isao
    Murakami, Kazuhito
    INTERNATIONAL WORKSHOP ON ADVANCED IMAGE TECHNOLOGY (IWAIT) 2019, 2019, 11049
  • [39] Robust Leader-Follower Formation Tracking Control of Multiple Underactuated Surface Vessels
    彭周华
    王丹
    兰维瑶
    孙刚
    ChinaOceanEngineering, 2012, 26 (03) : 521 - 534
  • [40] Robust leader-follower formation tracking control of multiple underactuated surface vessels
    Peng Zhou-hua
    Wang Dan
    Lan Wei-yao
    Gang, Sun
    CHINA OCEAN ENGINEERING, 2012, 26 (03) : 521 - 534
12345