Dynamic Aggregation Method for Target Enclosure Using Smoothed Particle Hydrodynamics Technique - An Implementation in Quadrotor Unmanned Aerial Vehicles (QUAV) Swarm

摘要

This paper presents an aggregation behavior derived from fluid characteristics by adapting Smoothed Particle Hydrodynamics (SPH) Technique. The most basic behavior in a swarm-like system is aggregation. The essential requirement of a swarm is to aggregate or collect itself in proximity to a singular point in order to execute higher level swarm behaviors. The aggregation behavior is further put into use by initiating a near convergence status in a single target enclosing it by the swarm with a given specific distance by using different fluid containers. In this paper, there are three fluid containers each is introduced with different characteristics. These containers are plane, spherical and toroidal containers. Using computer simulations with different trials, the proponents were able to determine the accuracy of containing the swarm elements in a desirable area. Furthermore, the ability of the swarm to maintain collectiveness is tested. The experiment results showed that the plane fluid container yielded an accuracy of 84.88%. A spherical fluid container displayed an accuracy of 95.23%. And using toroidal particle container showed an accuracy of 92.44%.