MOTION PLANNING, GUIDANCE AND CONTROL OF AUTONOMOUS SWARM FLYING-ROBOTS

Abstract

Small Unmanned Flying Vehicles (UFV) such as multicopters have gained a considerable popularity over the last years. This noticeable interest has arisen due to their versatility, agility, maneuverability, and large range of applications. However, some complicated tasks and applications required a swarm formation consists of multiple flying robots working in a collaborative and coordinated manner to effectively accomplish the intended missions. This dissertation proposes a set of algorithms to deal with motion planning, trajectory generation and control of basic behaviors and typical missions in swarm robotics such as: Synchronous Allocation and Planning of Trajectories (SAPT) both in obstacle-free and obstacle-cluttered environments, Multi-Robots Guidance Problems (MRGP), Pattern Formation and Collective Movement Control (PFCMC), and Guided Swarm to Intercept Moving Targets (GSIMT). All aforementioned tasks are modeled and implemented in MATLAB with three-dimension animation and simulation to demonstrate the convergence and features of the proposed algorithms. These basic missions will be applied to different swarm applications.