Development of a Distributed Algorithm for Flocking of Non-Holonomic Aerial Agents

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Soleymani, Touraj | 2011

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41620 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Saghafi, Fariborz
Abstract:
The goal of this project is the development of a control algorithm for a flock of non-holonomic aerial agents. For this purpose,the swarm architecture having some unique features such as robustness, flexibility, and scalability is utilized. Swarm is defined as a group of simple agents having local interactions between themselves and the environmentwhich shows an unpredictable emergent behavior.Behavior based control which is inspired from the animal behaviors is employed to control the swarm of mobile agents. Accordingly, the necessary behaviors which are distance adjustment, velocity agreement, and virtual leader tracking together with a fuzzy coordinator are designed. In this study, in addition to developing of the algorithm, the six degree freedom dynamic model of each agent in the swarm is acquired and its control systemis designed. Eventually, the admissibility of flocking, gaining the features of swarm, and the effects of non-holonomicity were investigated by performing comprehensive simulations. Based on the results of the simulations, the performance of the proposed algorithm for flocking of aerial agents was verified.
Keywords:
Distributed Algorithm ; Flocking ; Swarm Intelligence ; Behavior-Based Control

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