Research Article
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Year 2023, , 241 - 248, 31.12.2023
https://doi.org/10.36222/ejt.1350641

Abstract

References

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  • [7] W. Cheng, B. Jiang, K. Zhang, and S. X. Ding, “Robust finite-time cooperative formation control of UGV-UAV with model uncertainties and actuator faults,” J. Franklin Inst., vol. 358, no. 17, pp. 8811–8837, 2021.
  • [8] Z. A. Ali, A. Israr, E. H. Alkhammash, and M. Hadjouni, “A leader-follower formation control of multi-UAVs via an adaptive hybrid controller,” Complexity, vol. 2021, pp. 1–16, 2021.
  • [9] R. Rafifandi, D. L. Asri, E. Ekawati, and E. M. Budi, “Leader--follower formation control of two quadrotor UAVs,” SN Appl. Sci., vol. 1, pp. 1–12, 2019.
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  • [14] V. P. Bacheti, A. S. Brandao, and M. Sarcinelli-Filho, “A path-following controller for a uav-ugv formation performing the final step of last-mile-delivery,” IEEE Access, vol. 9, pp. 142218–142231, 2021.
  • [15] Y. Li and X. Zhu, “Design and testing of cooperative motion controller for UAV-UGV system,” Mechatronics Intell. Transp. Syst., 2022.
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  • [17] E. Akın and Y. Şahin, “Q-Learning Based Obstacle Avoidance Data Harvesting Model Using UAV and UGV,” Eur. J. Tech., vol. 13, no. 1, pp. 54–60.
  • [18] K. Aram, G. Erdemir, and B. Can, “Türkçe Dogal Dil Isleme Ile Ozerk Gezgin Robotun Yol Planlamasi, Path Planning of an Autonomous Mobile Robot by Turkish Natural Language Processing.”
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  • [22] M. Quigley, B. Gerkey, and W. D. Smart, Programming Robots with ROS: a practical introduction to the Robot Operating System. “ O’Reilly Media, Inc.,” 2015.
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  • [24] A. Farley, J. Wang, and J. A. Marshall, “How to pick a mobile robot simulator: A quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion,” Simul. Model. Pract. Theory, vol. 120, p. 102629, 2022.
  • [25] C. Williams and A. Schroeder, “Utilizing ROS 1 and the Turtlebot3 in a Multi-Robot System,” 2020.
  • [26] W. Hönig and N. Ayanian, “Flying multiple UAVs using ROS,” Robot Oper. Syst. Complet. Ref. (Volume 2), pp. 83–118, 2017.
  • [27] W. Giernacki, M. Skwierczyński, W. Witwicki, and P. Wroński Pawełand Kozierski, “Crazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering,” in 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017, pp. 37–42.
  • [28] Y. Liang, D. Qi, and Z. Yanjie, “Adaptive leader--follower formation control for swarms of unmanned aerial vehicles with motion constraints and unknown disturbances,” Chinese J. Aeronaut., vol. 33, no. 11, pp. 2972–2988, 2020.
  • [29] J. Luo, C.-L. Liu, and F. Liu, “A leader-following formation control of multiple mobile robots with obstacle,” in 2015 IEEE International Conference on Information and Automation, 2015, pp. 2153–2158.
  • [30] V. Walter, N. Staub, A. Franchi, and M. Saska, “Uvdar system for visual relative localization with application to leader--follower formations of multirotor uavs,” IEEE Robot. Autom. Lett., vol. 4, no. 3, pp. 2637–2644, 2019.
  • [31] Y. Ziquan, Y. Zhang, B. Jiang, F. U. Jun, and J. I. N. Ying, “A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles,” Chinese J. Aeronaut., vol. 35, no. 1, pp. 1–18, 2022.
  • [32] M. J. Hong and M. R. Arshad, “A balance-artificial potential field method for autonomous surface vessel navigation in unstructured riverine environment,” Procedia Comput. Sci., vol. 76, pp. 198–202, 2015.
  • [33] J. A. Preiss, W. Honig, G. S. Sukhatme, and N. Ayanian, “Crazyswarm: A large nano-quadcopter swarm,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 3299–3304.

Leader-Follower Based Formation Control of Heterogeneous UAV-AGV Multi-Agent System

Year 2023, , 241 - 248, 31.12.2023
https://doi.org/10.36222/ejt.1350641

Abstract

This paper deals with a leader-follower formation control of a heterogenous robot swarm. The heterogeneous swarm consists of unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV). The ground robot is the leader robot, and the drones are the followers. A centralized system receives the information about the robots, and the decision for the robots is made from there. The robots create the V formation shape and are assigned to the formation points using the Hungarian algorithm. The robots go to the formation points with a proportional controller. The system was developed using the ROS2 framework. Turtlebot3 and Crazyflie robots were used for the robot swarm. The study was tested in Webots simulation environment. Different tests were performed, and the results were observed.

References

  • [1] S. Çaşka and A. Gayretli, “A survey of UAV/UGV collaborative systems,” CIE44 IMSS, vol. 14, pp. 453–463, 2014.
  • [2] Y. Lu, Z. Xue, G.-S. Xia, and L. Zhang, “A survey on vision-based UAV navigation,” Geo-spatial Inf. Sci., vol. 21, no. 1, pp. 21–32, 2018.
  • [3] K. A. Ghamry and Y. Zhang, “Formation control of multiple quadrotors based on leader-follower method,” in 2015 International Conference on Unmanned Aircraft Systems (ICUAS), 2015, pp. 1037–1042.
  • [4] Y. Tian et al., “Search and rescue under the forest canopy using multiple UAVs,” Int. J. Rob. Res., vol. 39, no. 10–11, pp. 1201–1221, 2020.
  • [5] D. Kingston, R. W. Beard, and R. S. Holt, “Decentralized perimeter surveillance using a team of UAVs,” IEEE Trans. Robot., vol. 24, no. 6, pp. 1394–1404, 2008.
  • [6] R. Ritz and R. D’Andrea, “Carrying a flexible payload with multiple flying vehicles,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 3465–3471.
  • [7] W. Cheng, B. Jiang, K. Zhang, and S. X. Ding, “Robust finite-time cooperative formation control of UGV-UAV with model uncertainties and actuator faults,” J. Franklin Inst., vol. 358, no. 17, pp. 8811–8837, 2021.
  • [8] Z. A. Ali, A. Israr, E. H. Alkhammash, and M. Hadjouni, “A leader-follower formation control of multi-UAVs via an adaptive hybrid controller,” Complexity, vol. 2021, pp. 1–16, 2021.
  • [9] R. Rafifandi, D. L. Asri, E. Ekawati, and E. M. Budi, “Leader--follower formation control of two quadrotor UAVs,” SN Appl. Sci., vol. 1, pp. 1–12, 2019.
  • [10] E. dos Santos Cardoso and V. Bacheti, “Package Delivery Based on the Leader-Follower Control Paradigm for Multirobot Systems.”
  • [11] N. H. M. Li and H. H. T. Liu, “Formation UAV flight control using virtual structure and motion synchronization,” in 2008 American Control Conference, 2008, pp. 1782–1787.
  • [12] Y. Zhang and H. Mehrjerdi, “A survey on multiple unmanned vehicles formation control and coordination: Normal and fault situations,” in 2013 International conference on unmanned aircraft systems (ICUAS), 2013, pp. 1087–1096.
  • [13] S. Zhou, X. Dong, Q. Li, and Z. Ren, “Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies,” in 2020 IEEE 16th International Conference on Control \& Automation (ICCA), 2020, pp. 1068–1073.
  • [14] V. P. Bacheti, A. S. Brandao, and M. Sarcinelli-Filho, “A path-following controller for a uav-ugv formation performing the final step of last-mile-delivery,” IEEE Access, vol. 9, pp. 142218–142231, 2021.
  • [15] Y. Li and X. Zhu, “Design and testing of cooperative motion controller for UAV-UGV system,” Mechatronics Intell. Transp. Syst., 2022.
  • [16] E. H. C. Harik, F. Guérin, F. Guinand, J.-F. Brethé, and H. Pelvillain, “UAV-UGV cooperation for objects transportation in an industrial area,” in 2015 IEEE International Conference on Industrial Technology (ICIT), 2015, pp. 547–552. doi: 10.1109/ICIT.2015.7125156.
  • [17] E. Akın and Y. Şahin, “Q-Learning Based Obstacle Avoidance Data Harvesting Model Using UAV and UGV,” Eur. J. Tech., vol. 13, no. 1, pp. 54–60.
  • [18] K. Aram, G. Erdemir, and B. Can, “Türkçe Dogal Dil Isleme Ile Ozerk Gezgin Robotun Yol Planlamasi, Path Planning of an Autonomous Mobile Robot by Turkish Natural Language Processing.”
  • [19] M. Quigley et al., “ROS: an open-source Robot Operating System,” in ICRA workshop on open source software, 2009, vol. 3, no. 3.2, p. 5.
  • [20] L. Joseph and J. Cacace, Mastering ROS for Robotics Programming: Design, build, and simulate complex robots using the Robot Operating System. Packt Publishing Ltd, 2018.
  • [21] Z. Tüfekçi and G. Erdemir, “Experimental Comparison of Global Planners for Trajectory Planning of Mobile Robots in an Unknown Environment with Dynamic Obstacles,” in 2023 5th International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2023, pp. 1–6.
  • [22] M. Quigley, B. Gerkey, and W. D. Smart, Programming Robots with ROS: a practical introduction to the Robot Operating System. “ O’Reilly Media, Inc.,” 2015.
  • [23] O. Michel, “Cyberbotics ltd. webotsTM: professional mobile robot simulation,” Int. J. Adv. Robot. Syst., vol. 1, no. 1, p. 5, 2004.
  • [24] A. Farley, J. Wang, and J. A. Marshall, “How to pick a mobile robot simulator: A quantitative comparison of CoppeliaSim, Gazebo, MORSE and Webots with a focus on accuracy of motion,” Simul. Model. Pract. Theory, vol. 120, p. 102629, 2022.
  • [25] C. Williams and A. Schroeder, “Utilizing ROS 1 and the Turtlebot3 in a Multi-Robot System,” 2020.
  • [26] W. Hönig and N. Ayanian, “Flying multiple UAVs using ROS,” Robot Oper. Syst. Complet. Ref. (Volume 2), pp. 83–118, 2017.
  • [27] W. Giernacki, M. Skwierczyński, W. Witwicki, and P. Wroński Pawełand Kozierski, “Crazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering,” in 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017, pp. 37–42.
  • [28] Y. Liang, D. Qi, and Z. Yanjie, “Adaptive leader--follower formation control for swarms of unmanned aerial vehicles with motion constraints and unknown disturbances,” Chinese J. Aeronaut., vol. 33, no. 11, pp. 2972–2988, 2020.
  • [29] J. Luo, C.-L. Liu, and F. Liu, “A leader-following formation control of multiple mobile robots with obstacle,” in 2015 IEEE International Conference on Information and Automation, 2015, pp. 2153–2158.
  • [30] V. Walter, N. Staub, A. Franchi, and M. Saska, “Uvdar system for visual relative localization with application to leader--follower formations of multirotor uavs,” IEEE Robot. Autom. Lett., vol. 4, no. 3, pp. 2637–2644, 2019.
  • [31] Y. Ziquan, Y. Zhang, B. Jiang, F. U. Jun, and J. I. N. Ying, “A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles,” Chinese J. Aeronaut., vol. 35, no. 1, pp. 1–18, 2022.
  • [32] M. J. Hong and M. R. Arshad, “A balance-artificial potential field method for autonomous surface vessel navigation in unstructured riverine environment,” Procedia Comput. Sci., vol. 76, pp. 198–202, 2015.
  • [33] J. A. Preiss, W. Honig, G. S. Sukhatme, and N. Ayanian, “Crazyswarm: A large nano-quadcopter swarm,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 3299–3304.
There are 33 citations in total.

Details

Primary Language English
Subjects Computer Software
Journal Section Research Article
Authors

Kadir Aram 0000-0002-5780-6334

Abdulmelik Bekmez 0009-0008-4211-941X

Publication Date December 31, 2023
Published in Issue Year 2023

Cite

APA Aram, K., & Bekmez, A. (2023). Leader-Follower Based Formation Control of Heterogeneous UAV-AGV Multi-Agent System. European Journal of Technique (EJT), 13(2), 241-248. https://doi.org/10.36222/ejt.1350641

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