TIIS (한국인터넷정보학회)
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| 한글제목(Korean Title) |
Mathematical modeling for flocking flight of autonomous multi-UAV system, including environmental factors |
| 영문제목(English Title) |
Mathematical modeling for flocking flight of autonomous multi-UAV system, including environmental factors |
| 저자(Author) |
Youngho Kwon
Jun Hwang
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| 원문수록처(Citation) |
VOL 14 NO. 02 PP. 0595 ~ 0609 (2020. 02) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.
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| 키워드(Keyword) |
Autonomous aerial vehicles
autonomous navigation
decentralized multicopter flock
self-propelled flocking
swarm flight
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| 파일첨부 |
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