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Digital
Library of the European Council for Modelling and Simulation |
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Title: |
Navigation System For
Landing A Swarm Of Autonomous Drones On A Movable Surface |
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Authors: |
Anam Tahir,
Jari Boeling, Mohammad-Hashem Haghbayan, Juha Plosila |
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Published in:
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2020). ECMS 2020 Proceedings
Edited by: Mike Steglich, Christian Muller, Gaby
Neumann, Mathias Walther, European Council for Modeling and Simulation. DOI: http://doi.org/10.7148/2020 ISSN:
2522-2422 (ONLINE) ISSN:
2522-2414 (PRINT) ISSN:
2522-2430 (CD-ROM) ISBN: 978-3-937436-68-5 Communications of the ECMS , Volume 34, Issue 1, June 2020, United Kingdom |
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Citation
format: |
Anam Tahir, Jari Boeling, Mohammad-Hashem Haghbayan, Juha Plosila (2020). Navigation System For Landing A Swarm Of
Autonomous Drones On A Movable Surface, ECMS
2020 Proceedings Edited By: Mike Steglich,
Christian Mueller, Gaby Neumann, Mathias Walther European Council for
Modeling and Simulation. doi:
10.7148/2020-0168 |
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DOI: |
https://doi.org/10.7148/2020-0168 |
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Abstract: |
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. |
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