Bulanık Mantık Denetleyicisiyle Sürü İnsansız Hava Aracıları (İHA)’nın Rota Takip Performansı

Abstract

Swarm Unmanned Aerial Vehicles (UAVs) comprise of a group of aircraft that come together to achieve a specific goal. In recent years, the Swarm UAVs have been used in commercial, civil and military fields such as search and rescue operations, cargo transportation, sensitive agricultural practices, and ammunition delivery to war zones. Swarm UAVs can scan large areas in a short time in both military and civilian use. Swarm UAVs, which have the ability to communicate synchronously with each other, can perform complex tasks in a minimum energy and time by collaborating with respect to a single UAV. It is very important that swarm UAVs can follow the desired route with minimum error in order to perform the task in the shortest time and with least energy. In this study, the fuzzy logic controller is proposed for swarm quadrotors to follow the desired route with minimum error. The system modeling and mathematical equations of quadrotor have been developed in simulation environment. The performance of swarm UAVs to follow the rectangular and circular routes with minimum error is analyzed in this simulation. The fuzzy logic controller proposed for route tracking of the swarm UAVs is handled comparatively with the classical proportional-integral-derivative (PID) controller. The fuzzy logic controller developed in this simulation study increases the UAV’s sudden maneuverability and ability to complete the task with minimum energy compared to the classical PID controller. The classical PID and fuzzy controller performance of each UAV in the swarm is analyzed graphically and it is observed that the performance of the fuzzy logic controller to follow the reference route is higher than the classical PID controller.