Simulation of Efficient Cooperative UAVs using Modified PSO Algorithm

摘要

Unmanned Aerial Vehicles (UAVs), better known as drones, are one of the major technological developments of today. Groups of UAV are of special interest for their abilities to coordinate simultaneous coverage of large areas, or cooperate to achieve goals such as mapping. Cooperation and coordination in UAV groups also allows increasingly large numbers of aircraft to be operated by a single user. Our project aims to develop an algorithm for commanding multiple UAV's to co-operatively perform multiple tasks and to assign specify tasks to each vehicle without collision, congestion and overlapping by exact localizing each drone. We are planning to develop a real time algorithm that works possibly under communications constraints and other uncertainties and failures. For simulating of our algorithm, we use Dronekit, Ardupilot, pixhawk v and MAVlink protocol. Then we can embed the algorithm in real time in a Quadcopter using Ardupilot controller.