Please use this identifier to cite or link to this item: http://er.nau.edu.ua:8080/handle/NAU/23673
Title: Group Behavior of UAVs in Obstacles Presence
Other Titles: Групповое поведение БПЛА при наличии препятствий
Authors: Kucherov, Dmytro P.
Kucherov, D.P.
Кучеров, Д.П.
Кучеров, Дмитрий Павлович
Keywords: group of UAVs
agents system
Issue Date: Oct-2016
Publisher: National aviation university
Series/Report no.: MSNMC;
Abstract: The article deals with the problem of controlling the multi-agent system that consists of n UAVs moving in environment with obstacles. One of UAVs is an agent-leader and the others are agent-members. Behavior of an agents group in dynamic environment is considered as aggregation. This task supposes describing UAVs group movement as integrator of the second order, and each agent has information about others. Bypass obstacles and avoidance of collision is the main problem of this paper. Therefore we are considering movement of agents group in potential field, which includes two components: attractive and repulsing. The movement law is only known for agent-leader and agent-members that follow him in potential field. Simulation demonstrates main result of proposed approach.
Description: The article deals with the problem of controlling the multi-agent system that consists of n UAVs moving in environment with obstacles. One of UAVs is an agent-leader and the others are agent-members. Behavior of an agents group in dynamic environment is considered as aggregation. This task supposes describing UAVs group movement as integrator of the second order, and each agent has information about others. Bypass obstacles and avoidance of collision is the main problem of this paper. Therefore we are considering movement of agents group in potential field, which includes two components: attractive and repulsing. The movement law is only known for agent-leader and agent-members that follow him in potential field. Simulation demonstrates main result of proposed approach.
URI: http://er.nau.edu.ua:8080/handle/NAU/23673
ISBN: 978-1-5090-1052-3
Appears in Collections:Наукові статті кафедри КСУ

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