Belirsiz ve dinamik kısıtlar altında sürü İHA formasyon kontrol probleminin optimizasyonu için yeni bir çözüm yaklaşımı: Crazyfly 2.0 uygulaması

Yıl 2025, Cilt: 31 Sayı: 7, 1170 - 1191, 15.12.2025

Ukbe Usame Uçar , Burak Tanyeri

https://doi.org/10.5505/pajes.2025.09552

Öz

Bu makalede, Homojen, Zaman Pencereli, Merkezi Kontrol Mimarili, Belirsiz, Dinamik Yapılı ve Lidersiz (HTUDL-S-İHA) Sürü İHA Formasyon Kontrol Problemi elde edilmiştir. Problemin çözümü için tavlama benzetim algoritmasına dayalı jenerik ve dinamik özelliklere sahip yeni bir çözüm algoritması geliştirilmiştir. Formasyon kontrol mimarisi 5 katman olarak belirlenmiş ve formasyonların oluşturulması için birim çember sistematiğine yeni bir geometrik yaklaşım geliştirilmiştir. Literatürde İHA'ların yörüngelerinin takibi ve çarpışmaların önlenmesi için Tra-Coll ve CCA algoritmaları önerilmiştir. Uygulama çalışması 9 farklı formasyon (Üçgen, Kare, Beşgen, V Şekli, Hilal, Yıldız, 4'lü ve 8'li Eşkenar Dörtgen Formasyonu, Çizgi) ve 7 farklı görev (Sürü Navigasyon Görevi, Formasyon Değiştirme Görevi, İHA'yı Sürüden Çıkarma Görevi, İHA'yı Sürüye Ekleme Görevi, Sürü Rotasyon Görevi, Sürü Bölme/Birleştirme Görevi, Sürü Olarak Yörünge Takip Görevi) üzerinde Crazfly 2.0 İHA'ları kullanılarak ROS simülasyon programında ve gerçek sistem üzerinde gerçekleştirilmiştir. Önerilen çözüm yaklaşımı tüm bu görevleri, görevin kendine özgü koşulları doğrultusunda yerine getirmiş ve Teknofest-2021 Sürü İHA Yarışması'nda Türkiye 3.lüğü elde etmiştir. Ayrıca çalışma sayesinde stratejik ve kritik öneme sahip Sürü İHA görevlerinin ve diğer filo otonom sistemlerinin optimum başarısı için bir karar destek sistemi oluşturulması hedeflenmektedir.

Anahtar Kelimeler

İHA Sürü Formasyonu Kontrol Problemi , Metasezgisel Algoritma , Formasyon Takibi ve Engelden Kaçınma Ağları , Geometrik Sistem Mimarisi

A novel solution approach for optimization of swarm UAV formation control problem under uncertain and dynamic constraints: Crazyfly 2.0 application

Öz

In this article, Swarm UAV Formation Control Problem which is Homogeneous, Time-Window, Central Control Architecture, Uncertain, Dynamic Structure, and Leaderless (HTUDL-S-UAV) are obtained. For the solution of the problem, a new solution algorithm with generic and dynamic properties based on the annealing simulation algorithm is developed. The formation control architecture is determined as 5 layers and a new geometric approach to unit circle systematics has been developed to create formations. Tra-Coll and CCA algorithms are proposed in literature for tracking the trajectories of UAVs and preventing collisions. The application study is carried out on 9 different formations (Triangle, Square, Pentagon, V Shape, Crescent, Star, Rhombus Formation with 4 and 8, Line) and 7 different missions (Swarm Navigation Mission, Formation-Switching Mission, The mission to Remove UAV from the Swarm, The mission of adding UAV to the Swarm, Swarm Rotation Mission, Swarm Division/Unification Mission, Trajectory Tracking Mission as a Swarm) using Crazfly 2.0 drones in a ROS simulation program and on the real system. The proposed solution approach carried out all of these tasks in line with the specific conditions of the mission and achieved 3rd place in the Teknofest-2021 Swarm UAV Competition in Turkey. Furthermore, thanks to the study, it is aimed to create a decision support system for the optimal success of strategic and critically important Swarm UAV missions and other fleet autonomous systems.

Anahtar Kelimeler

UAV Swarm Formation Control Problem , Metaheuristic Algorithm , Formation Tracking and Obstacle Avoidance Networks , Geometric System Architecture

Kaynakça

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