Abstract
In this research, we present a motion planner for numerous fixed-wing unmanned aerial vehicles (UAVs) using the Lyapunov-based control scheme (LbCS) architecture. To go to their predetermined target, various formations of multi-robot systems must navigate a workspace in the presence of obstacles with respect to their leaders. Every formation has a leader, and the followers follow their leaders’ behavior. In the event of obstacles, the forms split and rejoin farther away. The flock moves toward its goal while navigating the surroundings in its predetermined pattern. The obstacles in our scenario will be spherical fixed obstacles, and the swarm’s moving aircraft will act as an obstacle for all other members (moving obstacles). The particular formation will stay clear of other formations as well. To successfully complete this work, a group of nonlinear acceleration-based controllers using the Lyapunov-based control scheme are developed. The proposed controllers will make sure that the UAVs coordinate their motion in a well-planned manner and ensure that the aircraft converges to their intended destination while avoiding obstacles in their route. It has been examined how several predefined flock formations have been developed in computer-generated simulations of a virtual scenario. The results of the simulation demonstrate how well the nonlinear acceleration control principles are working. Finally, a conclusion and suggestions for further research in this area complete the paper.
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Chand, R., Raghuwaiya, K., Vanualailai, J., Raj, J. (2023). Leader-Follower Based Control of Fixed-Wing Multi-Robot System (MRS) via Split-Rejoin Maneuvers in 3D. In: Reddy, A.B., Nagini, S., Balas, V.E., Raju, K.S. (eds) Proceedings of Third International Conference on Advances in Computer Engineering and Communication Systems. Lecture Notes in Networks and Systems, vol 612. Springer, Singapore. https://doi.org/10.1007/978-981-19-9228-5_18
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DOI: https://doi.org/10.1007/978-981-19-9228-5_18
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