This dissertation focuses on the path planning of unmanned aerial vehicle (UAV) swarms under distributed and hybrid control scenarios. It presents two such models and analyzes them both from theory and practice. In the first method, a distributed formation control strategy for UAV swarm based on consensus law is presented. This model makes use of the fundamental concepts of leader-follower structure, social potential functions, and algebraic graph theory to jointly address flocking and de-confliction in the formation control problem. The impact of network topology on formation control is analyzed. It is shown that the degree distribution of the network representing the multi-agent system defines the rate at which formation is attained. Conditions for convergence and stability are derived. In the second method, a hybrid framework for path planning and coverage area by UAV swarms is presented. This strategy significantly improves the current labor-intensive and resource-constraint operations in aquaculture farms. To monitor the farms periodically, an optimized back-and-forth flight path based on the Shamos algorithm is utilized. A trajectory tracking strategy for UAV swarms under uncertain wind conditions is presented.
| Identifer | oai:union.ndltd.org:unt.edu/info:ark/67531/metadc1833487 |
| Date | 08 1900 |
| Creators | Mukherjee, Srijita |
| Contributors | Namuduri, Kamesh, Varanasi, Murali, Buckles, Bill, Mehta, Gayatri, Soomro, Amjad |
| Publisher | University of North Texas |
| Source Sets | University of North Texas |
| Language | English |
| Detected Language | English |
| Type | Thesis or Dissertation |
| Format | viii, 79 pages, Text |
| Rights | Public, Mukherjee, Srijita, Copyright, Copyright is held by the author, unless otherwise noted. All rights Reserved. |
Page generated in 0.0026 seconds