Group Behavior of UAVs in Obstacles Presence
No Thumbnail Available
Files
Date
2016-10
Journal Title
Journal ISSN
Volume Title
Publisher
National aviation university
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.
Keywords
group of UAVs, agents system