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MSc. by S. Ogochukwu Omodolor: Distance and orientation based formation control of UAVs and coordination with UGVs

Seminarium

From: 2022-06-20 09:00 to 09:45
Place: Seminar Room KC 3N27 and Zoom: https://lu-se.zoom.us/j/64913980400?pwd=YjVabnFVd01lMmhNblo5czVrQnR4QT09
Contact: anders [dot] robertsson [at] control [dot] lth [dot] se
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Stevedan Ogochukwu Omodolor is defending his thesis at the Dept. of Automatic Control.

Author: Stevedan Ogochukwu Omodolor
Title: Distance and orientation based formation control of UAVs and coordination with UGVs
When: Monday June 20 at 09:00-09:45
Where: The seminar will be held in the seminar room of Department of Automatic Control, KC 3N:27, Naturvetarvägen 18, Lund. Zoom: https://lu-se.zoom.us/j/64913980400?pwd=YjVabnFVd01lMmhNblo5czVrQnR4QT09
Advisors: Anders Robertsson, Dept. Automatic Control, LTH
        Björn Olofsson, Dept. Automatic Control, LTH
Examiner: Tore Hägglund, Dept. Automatic Control, LTH
 


Abstract:

Nowadays, research in autonomous drones has increased thanks to the advancement of drone technology. Nevertheless, there is still limitations when performing specific missions due to flight duration, computation power, and mission complexity. This thesis proposes ways to solve this problem by taking advantage of multiple UAVs and UGVs. This thesis aims to implement strategies for forming and coordinating multiple UAVs and UGVs. First, we presented a brief review of state of the art on formation and flocking  control, further specifying the advantages and inconveniences of each approach.

Secondly, we used the behavior-based approach to obtain multi-UAV formation. We then proposed an extension to the original algorithm to consider orientation during formation. In addition, we extended the algorithm to apply it to a single integrator system to control the UGVs formation. Also, to coordinate the interaction between the robotics systems, we proposed a leader-follower-based algorithm using kmeans++.

Finally, we tested our proposed control laws in simulation and real-time experiments. The simulation was done in Matlab, while we did the real-time experiments using the Crazyflie quadcopter and a three-wheeled Omni-wheel robot.