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Line-of-sight guidance for formation control of quadrotor

Publication Type : Conference Paper

Publisher : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT)

Source : 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)

Url :

ISBN : 9781509049677

Keywords : aerial mapping, aircraft control, Atmospheric modeling, autonomous aerial vehicles, Collision avoidance, computational modeling, control system synthesis, cooperative control, designing PID controller, disciplined flight, Dynamics, formation flying, formation guidance law, formation pattern, guidance laws, helicopters, Integrated circuit modeling, intervehicle collisions, line-of-sight guidance, LOS, LOS guidance law, mathematical model, Mobile robots, Multi-robot systems, multiple quad rotor UAVs, Path Planning, position control, Quad rotor system, Remotely operated vehicles, Rescue operations, rotors, Sight guidance based flight formation control strategy, telerobotics, three-term control, Unmanned aerial vehicles, Vehicle dynamics

Campus : Amritapuri

School : School of Engineering

Department : Electrical and Electronics

Year : 2017

Abstract : In the broad class of unmanned aerial vehicles (UAV), Quadrotor is an important member. Cooperative control of UAVs are currently being researched for a wide range of applications. An active and important research area of cooperative control of multiple UAVs is the formation control. Formation flying is the disciplined flight of two or more aircraft under the command of a flight leader. The main goal is to coordinate a group of UAVs to achieve a desired formation pattern and avoid inter-vehicle collisions at the same time. Formation flight of a team of UAVs has broad applications such as aerial mapping, traffic monitoring, terrain and utilities inspection, search and rescue operations, perimeter planning, disaster monitoring, reconnaissance mission, surveillance etc. Here we propose a Line Of Sight (LOS) guidance based flight formation control strategy for multiple quad rotor UAVs in leader-follower framework. The guidance laws for 2D formation are implemented with the help of LOS angles, between adjacent quadrotors to keep the current quadrotor's position in formation. The full dynamic model of quadrotor incorporating LOS guidance law is considered for designing PID controller and the simulation analysis was done using MATLAB/ Simulink.

Cite this Research Publication : A. P. Mrudula and Nandagopal, J. L., “Line-of-sight guidance for formation control of quadrotor”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.

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