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Drones formation control for emergency equipment and medicines delivery based on optimal controllers

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Abstract
In this work, a fractional order proportional derivative (FOPD) control approach is applied to multiple unmanned aerial vehicles (UAVs) based on leader-follower formation for tackling an emergency health case. The controller parameters are tuning based on a multi-objective particle swarm optimization (MOPSO) algorithm with an accelerated update methodology. Its performance is compared against an integer order proportional-derivative (IOPD) control. Finally, the global path planning for the UAVs swarm is found using the Dijkstra’s algorithm with quintic polynomial trajectory. This provides an optimal global paths in terms of the path’s length and smoothness, considering the physical system dimension and constraints of acceleration and velocity average of the UAV. The simulation tests using the virtual environment demonstrate the proposed controller outperforms the IOPD control.
Keywords
Particle swarm optimization (PSO), fractional order proportional derivative (FOPD), integer order proportional-derivative (IOPD), unmanned aerial vehicles (UAVs)

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Chicago
Cajo Diaz, Ricardo Alfredo, Thoa Mac Thi, Cosmin Copot, Douglas Antonio Plaza Guingla, Robain De Keyser, and Clara-Mihaela Ionescu. 2019. “Drones Formation Control for Emergency Equipment and Medicines Delivery Based on Optimal Controllers.” In FEARS 2019 : Book of Abstracts, 30–31. Ghent: Ghent University, Faculty of Engineering and Architecture.
APA
Cajo Diaz, R. A., Mac Thi, T., Copot, C., Plaza Guingla, D. A., De Keyser, R., & Ionescu, C.-M. (2019). Drones formation control for emergency equipment and medicines delivery based on optimal controllers. FEARS 2019 : book of abstracts (pp. 30–31). Presented at the 19th FEA Research Symposium, FEARS 2019, Ghent: Ghent University, Faculty of Engineering and Architecture.
Vancouver
1.
Cajo Diaz RA, Mac Thi T, Copot C, Plaza Guingla DA, De Keyser R, Ionescu C-M. Drones formation control for emergency equipment and medicines delivery based on optimal controllers. FEARS 2019 : book of abstracts. Ghent: Ghent University, Faculty of Engineering and Architecture; 2019. p. 30–1.
MLA
Cajo Diaz, Ricardo Alfredo et al. “Drones Formation Control for Emergency Equipment and Medicines Delivery Based on Optimal Controllers.” FEARS 2019 : Book of Abstracts. Ghent: Ghent University, Faculty of Engineering and Architecture, 2019. 30–31. Print.
@inproceedings{8609440,
  abstract     = {In this work, a fractional order proportional derivative (FOPD) control approach is applied to multiple unmanned aerial vehicles (UAVs) based on leader-follower formation for tackling an emergency health case. The controller parameters are tuning based on a multi-objective particle swarm optimization (MOPSO) algorithm with an accelerated update methodology. Its performance is compared against an integer order proportional-derivative (IOPD) control. Finally, the global path planning for the UAVs swarm is found using the Dijkstra{\textquoteright}s algorithm with quintic polynomial trajectory. This provides an optimal global paths in terms of the path{\textquoteright}s length and smoothness, considering the physical system dimension and constraints of acceleration and velocity average of the UAV. The simulation tests using the virtual environment demonstrate the proposed controller outperforms the IOPD control.},
  author       = {Cajo Diaz, Ricardo Alfredo and Mac Thi, Thoa and Copot, Cosmin and Plaza Guingla, Douglas Antonio and De Keyser, Robain and Ionescu, Clara-Mihaela},
  booktitle    = {FEARS 2019 : book of abstracts},
  language     = {eng},
  location     = {Ghent},
  pages        = {30--31},
  publisher    = {Ghent University, Faculty of Engineering and Architecture},
  title        = {Drones formation control for emergency equipment and medicines delivery based on optimal controllers},
  url          = {http://www.fears.ugent.be/booklet.pdf},
  year         = {2019},
}