LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER

Swarm algorithm is a formation algorithm that mimics the behaviour of a group of animals like bees and birds. Leader-follower formation is one of the swarm algorithms where a follower vehicle follows a track that has been set by a leader vehicle. In this research, two quadrotors were used to form a...

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Main Author: LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA
Format: Final Project
Language:Indonesia
Online Access:https://digilib.itb.ac.id/gdl/view/21599
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Institution: Institut Teknologi Bandung
Language: Indonesia
id id-itb.:21599
spelling id-itb.:215992017-09-27T11:05:23ZLEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA Indonesia Final Project INSTITUT TEKNOLOGI BANDUNG https://digilib.itb.ac.id/gdl/view/21599 Swarm algorithm is a formation algorithm that mimics the behaviour of a group of animals like bees and birds. Leader-follower formation is one of the swarm algorithms where a follower vehicle follows a track that has been set by a leader vehicle. In this research, two quadrotors were used to form a leader-follower formation. In a leader-follower formation, there is a need for a positioning system so that the quadrotors can follow commands within the formation. <br /> <br /> <br /> There are three elements in the design of leader-follower formation control, which are positioning system, quadrotor position tracking, and leader-follower formation algorithm. Visual-based positioning system is used by using QR codes as markers, where images that are produced by the quadrotor vertical camera are used to identify markers. This positioning system has an accuracy of 10 cm. <br /> <br /> <br /> Quadrotor position tracking is performed to test the ability of a quadrotor to follow a certain path, which consists of identification of the movement characteristics of quadrotor, tuning of PD controller parameters using root locus method, and testing of the position tracking. The movement characteristics of the quadrotor on four axes (&#119909;+, &#119909;&#8722;, &#119910;+, and &#119910;&#8722;) resembles a first-order system with time delay. <br /> <br /> <br /> Leader-follower algorithm is designed after the positioning system and quadrotor position tracking is successfully implemented. Leader and follower quadrotors move on the direction of the &#119909;-axis. The leader and follower quadrotors are able to form a leader-follower formation with 300 cm gap on the &#119909;-axis, even though there are points where the gap between the two quadrotors reach 573 cm on the &#119909;-axis. text
institution Institut Teknologi Bandung
building Institut Teknologi Bandung Library
continent Asia
country Indonesia
Indonesia
content_provider Institut Teknologi Bandung
collection Digital ITB
language Indonesia
description Swarm algorithm is a formation algorithm that mimics the behaviour of a group of animals like bees and birds. Leader-follower formation is one of the swarm algorithms where a follower vehicle follows a track that has been set by a leader vehicle. In this research, two quadrotors were used to form a leader-follower formation. In a leader-follower formation, there is a need for a positioning system so that the quadrotors can follow commands within the formation. <br /> <br /> <br /> There are three elements in the design of leader-follower formation control, which are positioning system, quadrotor position tracking, and leader-follower formation algorithm. Visual-based positioning system is used by using QR codes as markers, where images that are produced by the quadrotor vertical camera are used to identify markers. This positioning system has an accuracy of 10 cm. <br /> <br /> <br /> Quadrotor position tracking is performed to test the ability of a quadrotor to follow a certain path, which consists of identification of the movement characteristics of quadrotor, tuning of PD controller parameters using root locus method, and testing of the position tracking. The movement characteristics of the quadrotor on four axes (&#119909;+, &#119909;&#8722;, &#119910;+, and &#119910;&#8722;) resembles a first-order system with time delay. <br /> <br /> <br /> Leader-follower algorithm is designed after the positioning system and quadrotor position tracking is successfully implemented. Leader and follower quadrotors move on the direction of the &#119909;-axis. The leader and follower quadrotors are able to form a leader-follower formation with 300 cm gap on the &#119909;-axis, even though there are points where the gap between the two quadrotors reach 573 cm on the &#119909;-axis.
format Final Project
author LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA
spellingShingle LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA
LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
author_facet LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA
author_sort LANA ASRI (NIM : 13313001) - RIFQI RAFIFANDI (NIM : 13313013), DEA
title LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
title_short LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
title_full LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
title_fullStr LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
title_full_unstemmed LEADER-FOLLOWER FORMATION CONTROL ON QUADROTOR USING VISUAL POSITIONING SYSTEM AND PROPORTIONAL-DERIVATIVE CONTROLLER
title_sort leader-follower formation control on quadrotor using visual positioning system and proportional-derivative controller
url https://digilib.itb.ac.id/gdl/view/21599
_version_ 1821120509174087680