Presentation Title

Application of a Modified Boids Algorithm For Navigation and Mapping with a Swarm of Small UAVs

Faculty Mentor

Scott Boskovich, Subodh Bhandari

Start Date

17-11-2018 2:00 PM

End Date

17-11-2018 2:15 PM

Location

C302

Session

Oral 3

Type of Presentation

Oral Talk

Subject Area

engineering_computer_science

Abstract

Since their emergence, small unmanned aerial vehicles (UAVs) have been widely used in applications ranging from photogrammetry to search and rescue and have the ability to increase the efficiency of many others involving dull or dangerous tasks. Typically a single UAV is used, however the use of many UAVs at the same time (a UAV swarm) can increase the scope of the mission and reduce overall time to completion while improving redundancy in case of a failure of an individual vehicle. This research explores the use of fully distributed control in a UAV swarm for the purpose of terrain mapping. The Boids algorithm is used as the core control behavior to allow basic navigation and collision avoidance between all UAVs. Additional behaviors including eccentricity, velocity gradients, boundary avoidance and boundary cohesion are added to increase efficiency of the system. The UAV swarm is simulated in V-Rep and connects to Python scripts through a remote API to log mapped areas. Combinations of the additional behaviors are tested against each other to determine which are most efficient when applied to mapping.

Summary of research results to be presented

The presentation will include results of mapping efficiency of a simulated swarm when programmed with the Boids algorithm and other added behaviors in different combinations. The hardware and communication architecture of the vehicles that will be used in the UAV swarm will also be presented.

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Nov 17th, 2:00 PM Nov 17th, 2:15 PM

Application of a Modified Boids Algorithm For Navigation and Mapping with a Swarm of Small UAVs

C302

Since their emergence, small unmanned aerial vehicles (UAVs) have been widely used in applications ranging from photogrammetry to search and rescue and have the ability to increase the efficiency of many others involving dull or dangerous tasks. Typically a single UAV is used, however the use of many UAVs at the same time (a UAV swarm) can increase the scope of the mission and reduce overall time to completion while improving redundancy in case of a failure of an individual vehicle. This research explores the use of fully distributed control in a UAV swarm for the purpose of terrain mapping. The Boids algorithm is used as the core control behavior to allow basic navigation and collision avoidance between all UAVs. Additional behaviors including eccentricity, velocity gradients, boundary avoidance and boundary cohesion are added to increase efficiency of the system. The UAV swarm is simulated in V-Rep and connects to Python scripts through a remote API to log mapped areas. Combinations of the additional behaviors are tested against each other to determine which are most efficient when applied to mapping.