Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 박종현 | - |
dc.contributor.author | 강윤석 | - |
dc.date.accessioned | 2020-02-11T03:55:14Z | - |
dc.date.available | 2020-02-11T03:55:14Z | - |
dc.date.issued | 2020-02 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/123569 | - |
dc.identifier.uri | http://hanyang.dcollection.net/common/orgView/200000436762 | en_US |
dc.description.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. | - |
dc.publisher | 한양대학교 | - |
dc.title | Collision-Free Motion Planning for Formation Control of UAV Swarm Using Velocity Field | - |
dc.title.alternative | 속도 필드를 활용한 군집 무인항공기의 충돌 회피 경로 탐색 | - |
dc.type | Theses | - |
dc.contributor.googleauthor | Yoon Seok Kang | - |
dc.contributor.alternativeauthor | 강윤석 | - |
dc.sector.campus | S | - |
dc.sector.daehak | 대학원 | - |
dc.sector.department | 융합기계공학과 | - |
dc.description.degree | Master | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.