Navigation System For Landing A Swarm Of Autonomous Drones On A Movable Surface

The development of a navigation system for the landing of a swarm of drones on a movable surface is one of the major challenges in building a fully autonomous platform. Hence, the purpose of this study is to investigate the behaviour of a swarm of ten drones under the mission of soft landing on a movable surface that has a linear speed with the effect of oscillations. This swarm, arranged in a leader–follower hierarchical manner, has distributed control units based on Linear Quadratic Regulator control with integral action technique. Furthermore, to prevent drones from landing arbitrarily, the leader drone takes the feedback of translational coordinates from the movable surface and adjusts its position accordingly. Hence, each follower tracks the leader’s trail with offsets, taking collision avoidance into account. The design parameters of controllers are mapped in a way that the simulations demonstrate the feasibility and great potential of the proposed method.

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