Path planning and formation control via potential function for UAV Quadrotor

Author

Rizqi, Ahmad Ataka Awwalur ; Cahyadi, Adha Imam ; Adji, Teguh Bharata

Author_Institution

Dept. of Electr. Eng. & Inf. Technol., Univ. Gadjah Mada, Yogyakarta, Indonesia

fYear

2014

fDate

6-8 June 2014

Firstpage

165

Lastpage

170

Abstract

Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function strategy is then used to design formation control algorithm. Using the hybrid virtual leader and behavioral approach schema, the formation control strategy by means of potential function is proposed. The overall strategy has been successfully applied to the Quadrotor´s model of Parrot AR Drone 2.0 in Gazebo simulator programmed using Robot Operating System.

Keywords

autonomous aerial vehicles; collision avoidance; digital simulation; operating systems (computers); robot programming; Gazebo simulator; Parrot AR Drone 2.0; UAV quadrotor; behavioral approach schema; formation control; goal location; hybrid virtual leader; local minima problem; obstacle avoidance; path planning; potential-function-based control strategy; robot operating system; unmanned aerial vehicle; wall-following behavior; Collision avoidance; Equations; Force; Mathematical model; Path planning; Robots; Switches; Formation Control; Local Minima; Path Planning; Potential Function; Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics and Intelligent Systems (ARIS), 2014 International Conference on

Conference_Location

Taipei

Type

conf

DOI

10.1109/ARIS.2014.6871517

Filename

6871517