طراحی مسیر کوادروتورهای همکار به‌وسیله آرایش رهبر-پیرو بر مبنای کمترین انرژی مصرفی به منظور حمل بار

نوع مقاله : مقاله پژوهشی

نویسندگان

1 مهندسی مکانیک، دانشکده فنی و مهندسی، دانشگاه ملایر، ملایر

2 دانشگاه ملایر

چکیده

امروزه وسایل هوایی بدون سرنشین به دلیل هزینه پایین، قدرت مانور بالا، بقای خوب در هر دو زمینه نظامی و تجاری مورد توجه بسیار قرار گرفته اند. هنگام تعیین یک مأموریت برای چنین سیستمهایی، طراحی مسیر، عنصر حیاتی کل سیستم است. در میان وسایل هوایی بدون سرنشین، کوادروتورها از اهمیت بیشتری برخوردارند. توانایی های این وسیله در حمل و نقل بار هوایی توجه بسیاری از گروههای تحقیقاتی در سراسر جهان را به خود جلب کرده است. در این پژوهش طراحی مسیر بر مبنای کمترین انرژی مصرفی به منظور حمل بار مورد بررسی قرار گرفته است. هدف از این پژوهش بررسی تأثیر تابع هدف پیشنهادی به منظور طراحی مسیر بهینه برای حمل بار بر مبنای کاهش انرژی مصرف شده کوادروتورها می باشد. نتایج بیانگر کاهش ۳۵/۲۹% میانگین انرژی مصرفی یک کوادروتور در حالت همکار نسبت به یک کوادروتور در حالت انفرادی بود. همچنین این موضوع نشانگر افزایش ظرفیت حمل بار در حالت گروهی می باشد. از سوی دیگر آرایش رهبر پیرو مورد نظر نیز با توجه به روابط تعریف شده ایجاد، و تا انتهای مسیر حفظ شده است. نتایج شبیه سازی قدرت روش و توانایی آن برای حل مسائل پیچیده نظیر طراحی مسیر حرکت کوادروتورهای همکار به منظور حمل بار را نشان می دهد.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Cooperative path planning for leader – follower formation of Multi UAV based on the minimum energy consumption for load transportation

نویسندگان [English]

  • Hossein Kiaee 1
  • Hamidreza Heidari 2
1 Mechanical Engineering, Malayer University,Malayer
2 Mechanical Engineering, Assistant Professor, Malayer,Iran
چکیده [English]

Today, unmanned aerial vehicles are highly considered for both military and commercial fields due to low cost, high maneuverability, and good survival. One of the most important design challenges of multi-unmanned aerial vehicle systems is mission planning. In the broad class of unmanned aerial vehicles, Quadrotor is an important member. The capabilities of this vehicle in load transportation has attracted the attention of many research groups around the world. In this paper, path planning based on the minimum energy consumption is studied for load transportation. The purpose of the present study is to investigate the effect of proposed cost function in order to obtain optimal path for transporting loads based on reducing the energy consumption of quadrotors. The results indicate the 35.29% energy consumption of multi unmanned aerial vehicle compared to the energy consumption of an individual quadrotor. This also leads to an increase in load carrying capacity. On the other hand, the leader- follower formation is preserved until the end of the path based on the defined relationships. The simulation results illustrate the power and efficiency of the method to overcome the high nonlinearity nature of the problem such as path optimization of multi-rotor helicopters.

کلیدواژه‌ها [English]

  • path planning
  • cooperative robots
  • Quadrotor
  • Optimal control
  • Load transportation
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