Projects:2017s1-170 Formation Control and Obstacle Avoidance for Heterogeneous Multi-Agent Systems (Unmanned Aerial Vehicles and Robots)

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Introduction

This project is to build an autonomous heterogeneous multi-vehicle system where several unmanned ground robots (UGV) and unmanned aerial vehicle (UAV) could achieve obstacle avoidance and formation control. In detail, UAV could move forward to any destination by controlling four airscrews on each side of UAV while two UGVs which are run by two wheels on each side would follow UAV as followers. In addition, UGVS could follow the UAV in certain formation, bypassing all obstacles on ground during moving process. After encountering an obstacle in moving, UGV could temporarily jump out of the formation shape and take bypassing this obstacle as the priority. If there are several obstacles on ground, the UGV could also find an optimal path to follow the UAV as the leader.

Group members

Hexu Zhang

Xiaoyuan Wang

Wenkai Yang

Supervisor

Peng Shi

Cheng-Chew Lim

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