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Distance and orientation-based formation control of UAVs and coordination with UGVs

Omodolor, Stevedan Ogochukwu (2022)
Department of Automatic Control
Abstract
Nowadays, research in autonomous drones has increased thanks to the advancement of drone technology. Nevertheless, there are still limitations when performing specific missions due to flight duration, computational load and mission complexity. This thesis investigates ways to solve this problem by taking advantage of multiple UAVs and UGVs. This thesis aims to implement and evaluate strategies for formation and coordination of multiple UAVs and UGVs. Firstly, we present a brief review of state of the art on formation and flocking control, further specifying the advantages and limitations of each approach.
Secondly, we use a behaviour-based approach to obtain multi-UAV formation control. We adapt the algorithm to apply it to a single... (More)
Nowadays, research in autonomous drones has increased thanks to the advancement of drone technology. Nevertheless, there are still limitations when performing specific missions due to flight duration, computational load and mission complexity. This thesis investigates ways to solve this problem by taking advantage of multiple UAVs and UGVs. This thesis aims to implement and evaluate strategies for formation and coordination of multiple UAVs and UGVs. Firstly, we present a brief review of state of the art on formation and flocking control, further specifying the advantages and limitations of each approach.
Secondly, we use a behaviour-based approach to obtain multi-UAV formation control. We adapt the algorithm to apply it to a single integrator system model to control the UGVs’ formation. We then propose an extension to the original algorithm to consider orientation during formation and a leader-follower strategy to coordinate the interaction between the units using a cluster-based approach.
Finally, we tested our proposed control laws in simulation and in experiments. The simulations were done in Matlab, while the real-implementation experiments were performed using the Crazyflie quadcopters and three-wheeled omniwheel robots. (Less)
Please use this url to cite or link to this publication:
author
Omodolor, Stevedan Ogochukwu
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6181
ISSN
0280-5316
language
English
id
9096642
date added to LUP
2022-08-03 12:38:02
date last changed
2022-08-03 12:38:02
@misc{9096642,
  abstract     = {{Nowadays, research in autonomous drones has increased thanks to the advancement of drone technology. Nevertheless, there are still limitations when performing specific missions due to flight duration, computational load and mission complexity. This thesis investigates ways to solve this problem by taking advantage of multiple UAVs and UGVs. This thesis aims to implement and evaluate strategies for formation and coordination of multiple UAVs and UGVs. Firstly, we present a brief review of state of the art on formation and flocking control, further specifying the advantages and limitations of each approach.
 Secondly, we use a behaviour-based approach to obtain multi-UAV formation control. We adapt the algorithm to apply it to a single integrator system model to control the UGVs’ formation. We then propose an extension to the original algorithm to consider orientation during formation and a leader-follower strategy to coordinate the interaction between the units using a cluster-based approach.
 Finally, we tested our proposed control laws in simulation and in experiments. The simulations were done in Matlab, while the real-implementation experiments were performed using the Crazyflie quadcopters and three-wheeled omniwheel robots.}},
  author       = {{Omodolor, Stevedan Ogochukwu}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Distance and orientation-based formation control of UAVs and coordination with UGVs}},
  year         = {{2022}},
}