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Collision-Free Motion Planning for Formation Control of UAV Swarm Using Velocity Field

Title
Collision-Free Motion Planning for Formation Control of UAV Swarm Using Velocity Field
Other Titles
속도 필드를 활용한 군집 무인항공기의 충돌 회피 경로 탐색
Author
강윤석
Alternative Author(s)
강윤석
Advisor(s)
박종현
Issue Date
2020-02
Publisher
한양대학교
Degree
Master
Abstract
This work proposes a new method of motion planning for swarm UAVs to make specific formation patterns while avoiding collisions. The swarm of UAVs move to their targets without any individual controls during the autonomous driving. Each individual UAV should go to its predetermined goal location while avoiding collisions with the others in a 3D space. This work proposes a collision-free navigation method based on the composition of velocity fields for drones to form an easily recognizable shape and a new goal assignment method for a quick and reliable 3D formation, which is called the Farthest-First method. The performance of the suggested methods was verified and characterized by motion simulations of UAVs in MATLAB and V-REP.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/123569http://hanyang.dcollection.net/common/orgView/200000436762
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL CONVERGENCE ENGINEERING(융합기계공학과) > Theses (Master)
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