Dynamic Motion Control of a Team of Quadrotor Aircraft Using the Potential Field Method

Sammanfattning: Unmanned air vehicles (UAV) are becoming moreand more widely used for a variety of different purposes.Transportation, surveillance and defense are but a few of theirapplication fields. There is therefore a need for a system in placethat makes sure the UAV’s are flying properly and withoutcrashing. In this project we seek to find a solution to this problemand develop such a navigation system. This has been done by theuse of sensors to help generate a potential field. The navigationsystem will with the use of potential fields help the UAV reach itsdestination while avoiding collision with other UAV’s anddifferent obstacles. This has all been simulated in Matlab, andthe results are the UAV successfully reaching its destinationwhile avoiding collisions.