Defesa de Ex. Qualificação – Thamiris Lima Costa – 1/10/2021
05/09/2021 15:02
| Defesa de Exame de Qualificação | |
| Aluna | Thamiris Lima Costa |
| Orientador
Coorientador |
Prof. Edson Roberto De Pieri, Dr. – DAS/UFSC
Prof. Ebrahim Samer El`Youssef, Dr. –UFSC/Blumenau |
| Data
Local |
1/10/2021 9h (sexta-feira)
Videoconferência (https://meet.google.com/mcn-tvby-owk) |
| Prof. Ubirajara Franco Moreno, Dr. – DAS/UFSC (presidente)
Profa. Kalinka Castello Branco, Dra. – ICMC/USP; Profa. Milena Faria Pinto, Dra. – CEFET-RJ; Prof. Marcelo de Lellis Costa de Oliveira, Dr. – DAS/UFSC. |
|
| Título | Formation Control and Cooperative Motion of UAV Swarm |
| Abstract: Unmanned aerial vehicles (UAVs) have been studied for use in both military and civil applications. Specifically, military related tasks concern the defense proposes. Civil applications include many tasks; indeed, we can mention tasks related to surveillance, transport, and remote sensing. Different technological areas related to a single UAV performing those tasks have been studied. As an improvement of these systems, multi-UAVs systems have been studied and have emerged as a relevant research topic. The use of multi-UAV systems can improve surveillance and remote sensing-related tasks by covering a larger area and enabling the transport of heavier loads in transportation related tasks. Independently of the task, challenges like formation control and cooperative motion planning are found. Different solutions have been proposed to address those problems. However, new improvements and challenges need to be addressed. This work concerns the UAV swarm area, examining strategies adopted to address formation control and cooperative motion problems. The Robot Operating System (ROS) and Gazebo are indicated to verify the solution that will be proposed since it is possible to simulate real environments. In addition, to obtain a satisfactory performance of each UAV in the swarm, it is desirable to control the UAV position and attitude individually. In this sense, the mathematical model of a quad-tiltrotor is derived, and a robust control basing on the Sliding Mode Control approach is developed. It is stood out that the model derived can be adapted into the standard quadrotor model. | |
