A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT
With the purpose of performing successful realization of multi-robot missions, an accurate guidance and control system is needed to enable the robots to simultaneously follow a l...
Gespeichert in:
| Veröffentlicht in: | مهندسی مکانیک شریف 2018-05, Vol.34.3 (1), p.73-85 |
|---|---|
| Hauptverfasser: | , |
| Format: | Artikel |
| Sprache: | per |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| Zusammenfassung: | With the purpose of performing successful realization of multi-robot missions, an accurate guidance and control system is needed to enable the robots to simultaneously follow a leader and avoid obstacles. In this research, a modular guidance and control system is proposed, which considers the dynamics of quad-copters to perform flight behaviors formation. Hovering in the air and the higher speed of aerial robots in comparison to ground robots makes obstacle avoidance a crucial function for their flight. Furthermore, these robots are employed frequently in urban environments where there are numerous obstacles. A multi-agent mission is a virtuous notion that improves the effectiveness and range of aerial robots in their applications. As a result, robots have to get far from their reference to be able to avoid the obstacle. A guidance system is ideal for these robots, which can maintain their path close enough to the original reference and at the same time avoiding obstacles safely. In this paper, the behavioral algorithm is utilized to simultaneously realize the leader following and obstacle avoidance behaviors in order to complete the formation flight successfully. Control system has to be consistent with the produced reference of the guidance system. Moreover, the main challenge in designing the control system is the underactuated-ness of quadrotors; this dynamical concept means that quadrotor has limited inputs and is not able to straightforwardly track three-dime |
|---|---|
| ISSN: | 2676-4725 2676-4733 |
| DOI: | 10.24200/j40.2018.6393 |