Route Tracking Performance of Swarm Unmanned Aerial Vehicles (UAVs) with Fuzzy Logic Controller

Abstract

Swarm Unmanned Aerial Vehicles (UAVs) comprise of a group of aircraft that come together to achieve a specific goal. In recent years, the Swarm UAVs have been used in commercial, civil and military fields such as search and rescue operations, cargo transportation, sensitive agricultural practices, and ammunition delivery to war zones. Swarm UAVs can scan large areas in a short time in both military and civilian use. Swarm UAVs, which have the ability to communicate synchronously with each other, can perform complex tasks in a minimum energy and time by collaborating with respect to a single UAV. It is very important that swarm UAVs can follow the desired route with minimum error in order to perform the task in the shortest time and with least energy. In this study, the fuzzy logic controller is proposed for swarm quadrotors to follow the desired route with minimum error. The system modeling and mathematical equations of quadrotor have been developed in simulation environment. The performance of swarm UAVs to follow the rectangular and circular routes with minimum error is analyzed in this simulation. The fuzzy logic controller proposed for route tracking of the swarm UAVs is handled comparatively with the classical proportional-integral-derivative (PID) controller. The fuzzy logic controller developed in this simulation study increases the UAV’s sudden maneuverability and ability to complete the task with minimum energy compared to the classical PID controller. The classical PID and fuzzy controller performance of each UAV in the swarm is analyzed graphically and it is observed that the performance of the fuzzy logic controller to follow the reference route is higher than the classical PID controller.

Keywords

• Swarm UAVs
• Route Tracking
• Quadrotor
• PID Controller
• Fuzzy Logic Controller

Bulanık Mantık Denetleyicisiyle Sürü İnsansız Hava Araçları (İHA)’nın Rota Takip Performansı

Öz

Sürü İnsansız Hava Araçları (İHA) belirli bir hedefe ulaşmak için bir araya gelen bir grup hava aracından oluşmaktadır. Son yıllarda Sürü İHA'lar, arama kurtarma çalışmaları, yük taşımacılığı, hassas tarım uygulamaları, savaş bölgelerine mühimmat iletilmesi gibi ticari, sivil ve askeri alanlarda kullanılmaktadır. Sürü İHA'lar gerek askeri gerekse sivil kullanımlarda geniş alanları kısa sürede tarayabilmektedir. Birbiriyle eş zamanlı olarak iletişim kurma yeteneğine sahip sürü İHA’lar, işbirliği yaparak karmaşık görevleri tek bir İHA’ya göre minimum enerji ve sürede gerçekleştirebilir. Sürü İHA’ların istenen rotayı minimum hatayla takip edebilmesi, görevi en kısa sürede ve en az enerjiyle gerçekleştirebilmesi için oldukça önemlidir. Bu çalışmada, sürü quadrotorların istenen rotayı minimum hata ile takip edebilmeleri için bulanık mantık kontrolcüsü önerilmektedir. Quadrotorun sistem modellemesi ve matematiksel denklemleri benzetim ortamında geliştirilmektedir. Sürü İHA’ların minimum hata ile dikdörtgen ve dairesel rotaları takip etme performansı, bu benzetim ortamında analiz edilmektedir. Sürü İHA'ların rota takibi için önerilen bulanık mantık denetleyicisi, klasik PID denetleyicisiyle karşılaştırmalı olarak ele alınmaktadır. Bu benzetim çalışmasında geliştirilen bulanık mantık denetleyicisi, İHA’nın ani manevra kabiliyetini ve görevi minimum enerjiyle gerçekleştirebilme yeteneğini klasik PID denetleyicisine göre arttırmaktadır. Sürüdeki her bir İHA'nın klasik PID ve bulanık mantık denetleyici performansı yapılan çalışmada grafiksel olarak incelenmekte ve bulanık mantık denetleyicisinin referans rotayı takip edebilme performansı klasik PID denetleyicisine göre daha yüksek olduğu gözlemlenmektedir.

Anahtar Kelimeler

• Sürü İHAlar
• Rota Takibi
• Quadrotor
• PID Denetleyicisi
• Bulanık Mantık Denetleyicisi

Kaynakça

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