Cooperation and navigation of multiple aerial vehicles

Date

2025-2-25

Author

Öveç, Naz Tuğçe

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

71
views

0
downloads

Cite This

In this study, a combined method for collaborative tracking and formation control in GPS denied regions is proposed. A simulation framework is introduced that is designed to explore cooperative control strategies for multi-agent systems, specifically focusing on formation control and localization in a GPS-denied environment. The proposed approach introduces a system of localization which utilizes bearing measurements gathered with the stereo vision effect from a monocular camera in conjunction with known landmarks in the mission area. This system comprises an offline path planning phase as the initial step in the localization and navigation process. The offline path planning ensures that at least a part of agents maintain visual contact with at least one landmark for a sufficient length of time. This strategy is crucial for maintaining a robust and continuous navigation solution. The aerial MAS (multi-agent system) is designed to maintain a specific formation while adhering to the pre-planned path. This trifold approach comprising path adherence, formation maintenance, and landmark-based localization aims to provide a superior and efficient navigation solution. The local and global localization efforts are simultaneously addressed within the same framework, leveraging the duality of bearing and distance rigidity under specific conditions.

Subject Keywords

Cooperation of UAVs, Stereo-vision effect, Landmark aided navigation

URI

https://hdl.handle.net/11511/114435

Collections

Graduate School of Natural and Applied Sciences, Thesis