Path Planning and Formation Control for Multiple Quadrotor UAV Leader-Follower Systems

被引：0

作者：

Amangeldi, Arystan ^{[1
]}

Kusdavletov, Sanzhar ^{[1
]}

机构：

[1] Astana IT Univ, Dept Intelligent Syst & Cybersecur, Astana, Kazakhstan

来源：

2023 11TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION, ICCMA | 2023年

关键词：

Formation control; UAVs; RRT; Multi-agent systems;

D O I：

10.1109/ICCMA59762.2023.10374652

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the formation control system design for multiple quadcopters with path planning for territory surveillance. The development is manifested with nonlinear dynamic modelling, position and attitude control of the quadrotor UAVs followed by leader-follower formation control for multi-drone systems operated with Rapidly-exploring Random Trees (RRT) based path planner. The simulated experimental validation demonstrates practical potential of the proposed framework.

引用

页码：109 / 114

页数：6

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