PATH PLANNING AND FORMATION CONTROL VIA POTENTIAL FUNCTION FOR UAV QUADROTOR

• Main Authors: , AHMAD ATAKA AWWALUR RIZQI, , Dr. Eng. Adha Cahyadi, ST., M.Eng.
• Format: Theses and Dissertations NonPeerReviewed
• Published: [Yogyakarta] : Universitas Gadjah Mada 2014
• Subjects: ETD
• Online Access: https://repository.ugm.ac.id/132883/; http://etd.ugm.ac.id/index.php?mod=penelitian_detail&sub=PenelitianDetail&act=view&typ=html&buku_id=73428
• Institution: Universitas Gadjah Mada

Potential-field-based control strategy for path planning and formation control of multi Quadrotor systems is proposed in this work. The potential field is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also proposed. The resulted path planning via potential function strategy is then used to design formation control algorithm. Using the virtual leader approach, the formation control strategy by means of potential function is formulated. Each Quadrotor is assigned attractive potential to reach its desired position in formation. Each Quadrotor is also treated as moving obstacle which induces repulsive potential to the others in order to prevent inter-robot collision. The desired position for each Quadrotor in certain configuration is calculated based on the virtual leader�s current position. To get smooth movement, the virtual leader is set as unicycle robot. The repulsive potential is also attached to each agent in case it moves in the region inside the obstacle�s influence. The overall strategy has been successfully applied to the Quadrotor�s model of Parrot AR Drone 2.0 in Gazebo simulator programmed using Robot Operating System.