In this work, a fractional order proportional derivative (FOPD) control approach is applied to multiple unmanned aerial vehicles (UAVs) based on leader-follower formation for tackling an emergency health case. The controller parameters are tuning based on a multi-objective particle swarm optimization (MOPSO) algorithm with an accelerated update methodology. Its performance is compared against an integer order proportional-derivative (IOPD) control. Finally, the global path planning for the UAVs swarm is found using the Dijkstra’s algorithm with quintic polynomial trajectory. This provides an optimal global paths in terms of the path’s length and smoothness, considering the physical system dimension and constraints of acceleration and velocity average of the UAV. The simulation tests using the virtual environment demonstrate the proposed controller outperforms the IOPD control.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Drones formation control for emergency equipment and medicines delivery based on optimal controllers



    Erscheinungsdatum :

    2019-01-01


    Anmerkungen:

    FEARS 2019 : book of abstracts


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    An Evaluation of the Delivery of Medicines Using Drones

    Michelle Sing Yee Hii / Patrick Courtney / Paul G. Royall | DOAJ | 2019

    Freier Zugriff

    Drones for Message Delivery for Emergency Communications

    KANG JUN MO | Europäisches Patentamt | 2018

    Freier Zugriff

    Emergency Kit Drones

    HYUN DONG SEOP | Europäisches Patentamt | 2022

    Freier Zugriff

    emergency parachute for drones

    LEE JAE YONG / JEONG JONG SEOK | Europäisches Patentamt | 2023

    Freier Zugriff

    product divided delivery drones

    Europäisches Patentamt | 2017

    Freier Zugriff