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Journal of Aerospace Science and Technology، جلد ۱۲، شماره ۲، صفحات ۱۹-۳۳
عنوان فارسی Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors
چکیده فارسی مقاله This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-based guidance algorithm; to compromise between safety, trajectory optimality, and control effort during the formation flight. The tuning is formulated as a constraint optimization problem where the penalty function method is used to secure the safe passage of quadrotors around an obstacle. The guidance subsystem is integrated with a consistent dynamic inversion controller to realize a smooth maneuver of the quadrotors along desired trajectories. For more, MATLAB/Simulink is used as the programming platform. The effectiveness of the tuning method is verified, based on the performance of the closed-loop system in the presence of an overall navigation system uncertainties and actuator lags.
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عنوان انگلیسی Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors
چکیده انگلیسی مقاله This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-based guidance algorithm; to compromise between safety, trajectory optimality, and control effort during the formation flight. The tuning is formulated as a constraint optimization problem where the penalty function method is used to secure the safe passage of quadrotors around an obstacle. The guidance subsystem is integrated with a consistent dynamic inversion controller to realize a smooth maneuver of the quadrotors along desired trajectories. For more, MATLAB/Simulink is used as the programming platform. The effectiveness of the tuning method is verified, based on the performance of the closed-loop system in the presence of an overall navigation system uncertainties and actuator lags.
کلیدواژه‌های انگلیسی مقاله Formation flight,Behavior-based Algorithm,obstacle avoidance,Constraint Optimization
نویسندگان مقاله Ehasan Zibaei |
The University of Tehran

Mohammad-Ali Amiri Atashgah |
The University of Tehran

Ahmad Kalhor |
The University of Tehran

نشانی اینترنتی https://jast.ias.ir/article_114003_2b16e4be50bc0cecc7a755949715d457.pdf
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