Formation control for multiple mini drones

• Κύριος συγγραφέας: Τάντουλας, Ανδρέας
• Άλλοι συγγραφείς: Tantoulas, Andreas
• Γλώσσα: English
• Έκδοση: 2023
• Θέματα: Formation control; Drones; Trajectory tracking; Έλεγχος σχηματισμού; Ιπτάμενα οχήματα; Παρακολούθηση τροχιάς

In the modern era, where the need for automation of more and more processes is imperative, the advent of drones has led to revolutionary applications that are poised to change both the trajectory of technology and everyday life. The aerial presence of drones has contributed to the development of numerous and diverse sectors. On one hand, the art of photography and video recording has reached a new level with the emergence of drones, while issues such as monitoring and surveillance now have a different and "aerial" approach. Furthermore, the evolution of flying vehicles has led to the construction of drones of various sizes, expanding the field of application. More specifically, smaller-sized drones, also known as mini-drones, have fully replaced existing systems due to their flexibility and efficiency, while simultaneously reducing risks and human involvement. Their configuration in swarms can even bring greater flexibility and possibly higher performance. However, ensuring stability and precision is critical for the coordination and effectiveness of a swarm. In this thesis, we studied a system of multiple drones and implemented an efficient controller using the Theory and Control of Systems. The first chapter analyzes the significance of the problem and the objective of this particular work. In the following chapter, an introduction to formation control theory is provided, along with its categorization based on agents and the coordinate system used each time. The third chapter provides a detailed description of the system to be controlled and initially simulates it in the "MATLAB" environment. The subsequent chapter encompasses the experimental implementation, which includes flights of mini-drones as well as the installation of their position detection system. Finally, we summarize our results and draw conclusions regarding the implemented formation control categories.