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.
Drones formation control for emergency equipment and medicines delivery based on optimal controllers
2019-01-01
FEARS 2019 : book of abstracts
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Drones for Message Delivery for Emergency Communications
Europäisches Patentamt | 2018
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