QUADROTOR FORMATION CONTROL USING THE CYCLIC LEADER FOLLOWER METHOD AND SQUARED FIDUCIAL MARKER LOCATION TRACKING MEDIA

• Main Author: Verian Pratama, Giga
• Format: Theses
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/70273
• Institution: Institut Teknologi Bandung

The quadrotor is one of the aircraft robots that has been developed a lot in this decade, especially in swarm capabilities or flying in groups. One method of flying in groups is the leader-follower (L-F). The conventional L-F method has a weakness if the leader fails while carrying out the task, then all quadrotors in the group will fail to complete the task. To overcome this, this research adopts the cyclic L-F method, where the leader will be replaced by one of the followers if they fail. This process can continue until one quadrotor remains so that the task can be completed even if the other quadrotor fails. This research was also supported by a location search system for the L-F quadrotor using the ArUco squared fiducial marker (SFM). This study begins with the identification of individual quadrotor flight speed models using the first order plus time delay (FOPTD) approach. This model is used in the design of proportional derivative (PD) controllers for position control simulations and quadrotor swarm configurations. System simulation results and configurations are verified through testing with a quadrotor. Testing of the cyclic L-F system and ArUco SFM localization was carried out on three quadrotors with a five-point tracing task at a distance of 550 cm. Placement of 60 SFM ArUco on the ground with an area of 840 x 270 cm with a distance between markers of 60 cm along the x-axis and 90 cm along the y-axis. The method used to test cyclic in the L-F formation is to provide a fault, in the form of information on the battery status of less than 30%. The test results for the cyclic L-F system without any problems on all quadrotors were 19.2 seconds and the root means square error (RMSE) was 73.6 cm. Subsequent tests with information on the problem of 25% remaining battery on the leader caused the leader to land and the remaining 2 quadrotors continued to carry out point tracing tasks. The completion time, in this case, is 32 seconds and the RMSE for the first leader is 117.2 cm and for the second leader is 178.5 cm. Finally, the duration of the test with 1 remaining quadrotor is 34 seconds and the RMSE is 156.9 cm for the first leader, 154.1 cm for the second leader, and 398.7 for the last drone. Duration and RMSE increased due to leader changes and formation adjustments. In all test cases, the point tracing task was completed by at least one quadrotor.