CONSENSUS-BASED FORMATION CONTROL SYSTEM AND KINEMATIC-BASED COLLISION AVOIDANCE CONTROL SYSTEM FOR TEAM OF UAV

• Main Author: Sudiyanto, Tata
• Format: Dissertations
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/54507
• Institution: Institut Teknologi Bandung

From the control problem for a system of a team autonomous UAVs, this research addresses two subjects: the interaction between autonomous UAV with other autonomous UAV in the system, and their interactions with other objects that do not belong to the team, or intruders, in the environment. Interaction between team members is managed to achieve coordinated flight via a team-level flight control system through which the team’s behavior can be further controlled to perform essential tasks such as goal tracking and formation forming and formation keeping (FFK). Interaction with intruder objects is managed to achieve collision threat detection and avoidance, or collision avoidance (CA), which is essential and prioritized. These two subjects, when solved as aggregate solution, produce a new problem: In certain situation, solution for FFK and solution for CA may oppose each other. This problem renders the aggregate solution unsafe. To address this problem, a design of consensus-based control system aggregate is proposed. The control system aggregate works by managing the interaction topology between team members so that it (the topology) may vary accordingly to maintain the required spanning tree during the encounter event with intruder. In the case where the existence of spanning tree cannot be maintained due to certain collision threat mode such as when an oversized intruder approaches and intrudes deeply into the team’s formation, the team‘s flight response is satisfactory where all members successfully avoid the threatening intruder and converges back to the team’s initial formation as soon as the threat disappear from their viscinity.