dc.contributor.author | Choutri, Kheireddine | |
dc.contributor.author | Lagha, Mohand | |
dc.contributor.author | Dala, Laurent | |
dc.date.accessioned | 2019-02-28T05:38:41Z | |
dc.date.available | 2019-02-28T05:38:41Z | |
dc.date.issued | 2019-03-01 | |
dc.identifier.issn | 2210-142X | |
dc.identifier.uri | https://journal.uob.edu.bh:443/handle/123456789/3423 | |
dc.description.abstract | Nowadays, most of the recent researches are focusing on the use of multi-UAVs in both civil and military applications. Multiple robots can offer many advantages compared to a single one such as reliability, time decreasing and various simultaneous interventions. However, solving the formation control and obstacles avoidance problems is still a big challenge. This paper proposes a distributed strategy for UAVs formation control and obstacles avoidance using a consensus-based switching topology. This novel approach allows UAVs to keep the desired topology and switch it in the event of avoiding obstacles. A double loop control structure is designed using a backstepping controller for tracking of the reference path, while a Sliding Mode Controller (SMC) is adopted for formation control. Furthermore, collaborative obstacles avoidance is assured by switching the swarm topology. Numerical simulations show the efficiency of the proposed strategy. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | University of Bahrain | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 International | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Quadrotors | en_US |
dc.subject | Multi-UAVs | en_US |
dc.subject | Obstacles Avoidance | en_US |
dc.subject | Switching Topolgy | en_US |
dc.subject | Formation Control | en_US |
dc.title | Distributed Obstacles Avoidance For UAVs Formation Using Consensus-based Switching Topology | en_US |
dc.type | Article | en_US |
dc.identifier.doi | http://dx.doi.org/10.12785/ijcds/080208 | |
dc.volume | 08 | en_US |
dc.issue | 02 | en_US |
dc.pagestart | 167 | en_US |
dc.pageend | 178 | en_US |
dc.contributor.authorcountry | Algeria | en_US |
dc.contributor.authorcountry | United Kingdom | en_US |
dc.contributor.authoraffiliation | Aeronautical Sciences Laboratory Aeronautical and Spatial Studies Institute University Blida1, Algeria | en_US |
dc.contributor.authoraffiliation | Department of Mechanical and Construction Engineering, Northumbria University, United Kingdom | en_US |
dc.source.title | International Journal of Computing and Digital Systems | en_US |
dc.abbreviatedsourcetitle | IJCDS | en_US |
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