Consensus-based and network control of UAVs

摘要

During the past few years, research in the field of cooperative control of swarm of robots and specially UAV has continuously increased. In order to develop research in the field of swarm of UAV this paper identifies three problems: the development of a testbed for UAV, the implementation of an ad hoc network and a protocol based on network control, and a consensus control algorithm for cooperative control of UAV. The testbed currently enables us to perform waypoint navigation using a global positioning system (GPS). The protocol communication designed for the ad hoc network has proved to be reliable for our application and can be expanded to be used with different number of agents. The algorithm of consensus control has been analyzed and tested in simulation. Future work will allow implementing the consensus control as centralized control or distributed control.