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MULTI-DRONE CONTROL SYSTEM
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Planning and controlling traffic for multiple drones in a system without intercommunication betweenthe drones is a daunting proposition. This paper presents a thesis work developing a multi-dronecontrol system capable of planning and executing missions in a 3-D aerial space. Generic 2-D pathplanning algorithms are extended into the 3-D space to handle multiple parts of the path planning,creating highways through a gridded area which is used as obstacles for other drones.Three path planning algorithm are compared with other each other wavefront, Astar and po-tential fields, scheduling is also documented to find the optimal drone amount that the system canhandle given an area of interest, this is done to see how often and for how long drones stand idle.Simulations and equations have been implemented to verify and compare results.

Place, publisher, year, edition, pages
2019. , p. 28
Keywords [en]
Drone, Control System, ROS, Path Planning
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-42796OAI: oai:DiVA.org:mdh-42796DiVA, id: diva2:1292032
External cooperation
Nordluft Automation AB; Robotdalen
Supervisors
Examiners
Available from: 2019-03-12 Created: 2019-02-26 Last updated: 2019-03-12Bibliographically approved

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Robotics

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf