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Flight Formation Control & Obstacle Avoidance of a UAV Team Using Fuzzy Predictive Artificial Potential Field Method

Vahedi, Amir Mohammad | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56251 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. This thesis focuses on the development of a flight formation control algorithm and obstacle avoidance of a UAV team using fuzzy predictive artificial potential field (FPAPF) method. One of the common methods for path generation and obstacle avoidance is the artificial potential field (APF) method. The basis of the APF method is that the UAV is attracted to the target point and repelled from the obstacles by using the potential fields of attraction and repulsion. The popularity of this method is due to its computational simplicity and efficiency. The APF method has limitations due to constant attraction and repulsion coefficients. The proposed real-time FPAPF method uses fuzzy logic to determine the coefficients based on the distance and line-of-sight angle between the UAV and the target/obstacles. This method avoids getting stuck in local minimum points by using the ability to predict obstacles, in addition to the usual APF repulsion method. A control law is also designed to maintain a desired flight formation while avoiding obstacles. The simulation results show that the fuzzy predictive artificial potential field method is successful in achieving smooth and efficient path planning, obstacle avoidance and flight formation control
  9. Keywords:
  10. Unmanned Aerial Vehicles (UAV) ; Artificial Potential Field ; Fuzzy Predictive Control ; Obstacle Avoidance ; Flight Formation ; Flight Control

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