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...
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| Format: | Article |
| Language: | fas |
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Sharif University of Technology
2018-05-01
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| Series: | مهندسی مکانیک شریف |
| Subjects: | |
| Online Access: | https://sjme.journals.sharif.edu/article_6393_369ff3a9470a01dd06cfcd9b8c2f208e.pdf |
| _version_ | 1797404477185064960 |
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| author | E. Zibaei M.A. Amiri Atashgah |
| author_facet | E. Zibaei M.A. Amiri Atashgah |
| author_sort | E. Zibaei |
| collection | DOAJ |
| description | 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-dimensional trajectories. In this work, the control system is designed based on dynamic inversion approach and is consistent with the guidance system. Performance of guidance and control systems is examined in a detailed simulation environment, which enjoys the incorporation of the noise of sensors and lag of rotors. For this purpose, the flight dynamics of quadrotors is carefully modeled to make simulation outcomes more realistic. The simulation results specify that the guidance and control systems are capable to follow the leader while attaining 2 m accuracy in position and 3.5 m in altitude. |
| first_indexed | 2024-03-09T02:55:33Z |
| format | Article |
| id | doaj.art-e2a629f1c3b14460b83b647d3758350d |
| institution | Directory Open Access Journal |
| issn | 2676-4725 2676-4733 |
| language | fas |
| last_indexed | 2024-03-09T02:55:33Z |
| publishDate | 2018-05-01 |
| publisher | Sharif University of Technology |
| record_format | Article |
| series | مهندسی مکانیک شریف |
| spelling | doaj.art-e2a629f1c3b14460b83b647d3758350d2023-12-05T07:31:12ZfasSharif University of Technologyمهندسی مکانیک شریف2676-47252676-47332018-05-0134.31738510.24200/j40.2018.63936393A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOTE. Zibaei0M.A. Amiri Atashgah1Faculty of New Sciences and Technologies University of TehranFaculty of New Sciences and Technologies nUniversity of TehranWith 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-dimensional trajectories. In this work, the control system is designed based on dynamic inversion approach and is consistent with the guidance system. Performance of guidance and control systems is examined in a detailed simulation environment, which enjoys the incorporation of the noise of sensors and lag of rotors. For this purpose, the flight dynamics of quadrotors is carefully modeled to make simulation outcomes more realistic. The simulation results specify that the guidance and control systems are capable to follow the leader while attaining 2 m accuracy in position and 3.5 m in altitude.https://sjme.journals.sharif.edu/article_6393_369ff3a9470a01dd06cfcd9b8c2f208e.pdfquadrotorbehavior-based approachobstacle avoidancedynamic inversion |
| spellingShingle | E. Zibaei M.A. Amiri Atashgah A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT مهندسی مکانیک شریف quadrotor behavior-based approach obstacle avoidance dynamic inversion |
| title | A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT |
| title_full | A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT |
| title_fullStr | A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT |
| title_full_unstemmed | A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT |
| title_short | A BEHAVIOR-BASED APPROACH TO SIMULTANEOUS REALIZATION OF LEADER-FOLLOWING AND OBSTACLE-AVOIDANCE BEHAVIOURS FOR A FLYING ROBOT |
| title_sort | behavior based approach to simultaneous realization of leader following and obstacle avoidance behaviours for a flying robot |
| topic | quadrotor behavior-based approach obstacle avoidance dynamic inversion |
| url | https://sjme.journals.sharif.edu/article_6393_369ff3a9470a01dd06cfcd9b8c2f208e.pdf |
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