基于拉格朗日动力学和势函数的四旋翼飞行器群建模与协调

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI:10.1109/ETFA.2019.8869248

Bedir Halci, V. Gazi, Onur Cihan

{"title":"基于拉格朗日动力学和势函数的四旋翼飞行器群建模与协调","authors":"Bedir Halci, V. Gazi, Onur Cihan","doi":"10.1109/ETFA.2019.8869248","DOIUrl":null,"url":null,"abstract":"In this article we develop an energy based model for the dynamics of a swarm of quadrotors using Lagrangian approach. Both the individual quadrotor dynamics and the interaction dynamics between the agents in the swarm are modeled within the framework. Artificial potential energy and the corresponding potential forces are utilized for modeling the interaction between the quadrotors. Various simulations are performed to illustrate the viability and effectiveness of the developed swarm model. The kinetic and potential energy of the swarm is also illustrated.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"56 1","pages":"963-970"},"PeriodicalIF":0.0000,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Modelling and Coordination of a Swarm of Quadrotors Using Lagrange Dynamics and Potential Functions\",\"authors\":\"Bedir Halci, V. Gazi, Onur Cihan\",\"doi\":\"10.1109/ETFA.2019.8869248\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this article we develop an energy based model for the dynamics of a swarm of quadrotors using Lagrangian approach. Both the individual quadrotor dynamics and the interaction dynamics between the agents in the swarm are modeled within the framework. Artificial potential energy and the corresponding potential forces are utilized for modeling the interaction between the quadrotors. Various simulations are performed to illustrate the viability and effectiveness of the developed swarm model. The kinetic and potential energy of the swarm is also illustrated.\",\"PeriodicalId\":6682,\"journal\":{\"name\":\"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)\",\"volume\":\"56 1\",\"pages\":\"963-970\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ETFA.2019.8869248\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETFA.2019.8869248","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

本文采用拉格朗日方法建立了一种基于能量的四旋翼机群动力学模型。在该框架内建立了个体四旋翼动力学和群中agent之间的交互动力学模型。利用人工势能和相应的势能来模拟四旋翼之间的相互作用。通过各种仿真来说明所建立的群体模型的可行性和有效性。给出了蚁群的动能和势能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Modelling and Coordination of a Swarm of Quadrotors Using Lagrange Dynamics and Potential Functions

In this article we develop an energy based model for the dynamics of a swarm of quadrotors using Lagrangian approach. Both the individual quadrotor dynamics and the interaction dynamics between the agents in the swarm are modeled within the framework. Artificial potential energy and the corresponding potential forces are utilized for modeling the interaction between the quadrotors. Various simulations are performed to illustrate the viability and effectiveness of the developed swarm model. The kinetic and potential energy of the swarm is also illustrated.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

自引率

0.00%

发文量