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This seminar report discusses agile coordination and collision avoidance for quadrotor swarms using virtual structures. Quadrotors can be controlled to perform complex maneuvers while maintaining a fixed formation using virtual structures. A potential field approach is used for collision avoidance between quadrotors and with obstacles. Experiments with 3-5 quadrotors demonstrated successful collision avoidance and maneuvering. Simulations with up to 200 quadrotors showed the approach can scale to large swarms. The method allows agile, coordinated movement of quadrotor swarms while avoiding collisions.

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Arjun Snow
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52 views6 pages

Seminar Report Template-1

This seminar report discusses agile coordination and collision avoidance for quadrotor swarms using virtual structures. Quadrotors can be controlled to perform complex maneuvers while maintaining a fixed formation using virtual structures. A potential field approach is used for collision avoidance between quadrotors and with obstacles. Experiments with 3-5 quadrotors demonstrated successful collision avoidance and maneuvering. Simulations with up to 200 quadrotors showed the approach can scale to large swarms. The method allows agile, coordinated movement of quadrotor swarms while avoiding collisions.

Uploaded by

Arjun Snow
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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A Seminar Report on

Agile Coordination And Assistive Collision


Avoidance For Quadrotor Swarms Using Virtual
Structures

Submitted By
ARJUN K GOPALAKRISHNAN
(4NM15EC034)
Section: A

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING


N.M.A.M. INSTITUTE OF TECHNOLOGY, NITTE - 574110
2018 – 2019
Department of Electronics and Communication Engineering

CERTIFICATE

This is to certify that ARJUN K GOPALAKRISHNAN, 4NM15EC034, a bonafide

student of N.M.A.M. Institute of Technology, Nitte has submitted the report for the

seminar entitled “Agile Coordination And Assistive Collision Avoidance For Quadrotor

Swarms Using Virtual Structures” in partial fulfillment of the requirements for the award

of Bachelor of Engineering Degree in Electronics and Communication Engineering

during the year 2018-2019.

Name of the Reviewer Signature with date

…………………………….. ………………………………..
Agile Coordination And Assistive Collision Avoidance For Quadrotor Swarms Using Virtual Structures

REFERRED PAPER

Department of ECE, NMAMIT, Nitte Page 1


Agile Coordination And Assistive Collision Avoidance For Quadrotor Swarms Using Virtual Structures

UNDERSTANDING & CONCLUSION

Quadrotors are multirotor helicopters that are lifted and propelled by four rotors.
These devices are easier to maneuver and control as compared to conventional
helicopters. In the modern day, swarms of quadrotors have found numerous
applications as unmanned aerial vehicles used in security, surveillance and search
and rescue operations. A predominant issue in the maneuvering of quadrotor
swarms is the possibility of collisions within the swarms and with the immediate
environment. Quadrotors must be nimble in their movement and their trajectories
must be well defined for efficient application in real time.

Swarms of quadrotors can be controlled to perform agile interleaved maneuvers


while holding a fixed relative formation and while transitioning between different
maneuvers. Using the existing virtual structure concept as a framework , complex
trajectories could be executed [1] . A standard gaming joystick provided to be a
simple and intuitive human interface for the control of an arbitrarily large aerial
swarm in real time. The virtual structure concept was previously applied successfully
to satellite and ground vehicle formations [2]. The human operator controls the
swarm as if it were a single aircraft enabling and switching between formations .
Each quadrotor within the swarm autonomously determines it’s own control action
required to hold the formation. A differential flatness based feedback-feedforward
controller enables the quadrotor to trace the required trajectory [4]. Scalability of the
swarms was done by ensuring the decoupling of the control of the swarm. A
formation library was implanted containing a predefined set of formations and
transformations for the swarm to emulate. Several potential fields were applied to the
whole swarm and to individual quadrotors to implement collision avoidance
mechanism. The potential fields allowed the swarms to deform around an obstacle
before attaining their original formation again. The main aspects of collision
avoidance include collision with obstacles and collision amongst swarms.

A real time experiment conducted using 3-5 quadrotors in an initial trapezoidal


formation yielded successful results in collision avoidance and agile movement [3].
Simulations taking up to 200 quadrotors in a swarm was tested to prove the
successful working of the theory and that scaling was feasible.

Department of ECE, NMAMIT, Nitte Page 2


Agile Coordination And Assistive Collision Avoidance For Quadrotor Swarms Using Virtual Structures

The methods were found to work for any virtual rigid body that was up to four times
differentiable [2]. The combination of control and planning tools integrated into the
end to end system enables agile interleaved maneuvering of the swarm while the
virtual structure based approach coupled with the differential flatness based
feedback-feed forward system creates a swarm of quadrotors which hold formation
and can transition between formations in a local reference frame. The trajectory can
be tele operated by a human controller through a standard joystick interface. The
validation of the method was done conducting an experiment using hardware and
the scalability was demonstrated through simulation. This methodology could prove
to be efficient in search and rescue operations and defense applications where
swarm intelligence could provide an advantage.

Department of ECE, NMAMIT, Nitte Page 3


Agile Coordination And Assistive Collision Avoidance For Quadrotor Swarms Using Virtual Structures

REFERENCES

[1] M. A. Lewis and K.-H. Tan, “High precision formation control of mobile robots
using virtual structures,” Auton. Robots, vol. 4, no. 4, pp. 387–403,
1997.
[2] R. W. Beard, J. Lawton, and F. Y. Hadaegh, “A coordination architecture for
formation control,” IEEE Trans. Control Syst. Technol., vol. 9, no. 6, pp. 777–790,
Nov. 2001.
[3] R. Olfati-Saber and R. M. Murray, “Distributed cooperative control of
multiple vehicle formations using structural potential functions,” in Proc. IFAC
World Congr., 2002, pp. 346–352.
[4] W. Ren and R. W. Beard, “Formation feedback control for multiple
spacecraft via virtual structures,” IEE Proc.—Control Theory and Appl., vol. 151,
no. 3, 2004, pp. 357–368.

Department of ECE, NMAMIT, Nitte Page 4

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