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All Journal Journal of Robotics and Control (JRC) JAREE (Journal on Advanced Research in Electrical Engineering) Sewagati SNTE
Sahal, Mochammad
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Aerospace Engineering Arts Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Mechanical Engineering Public Health Social Sciences Other

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Journal : Journal of Robotics and Control (JRC)

 1 
Cooperative Formation and Obstacle Avoidance Control for Multi-UAV Based on Guidance Route and Artificial Potential Field Sahal, Mochammad; Maynad, Vincentius Charles; Bilfaqih, Yusuf
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23577

Abstract

Research on cooperative control of multi-UAV systems has gained significant attention in the flight control field, with a particular focus on formation control and obstacle avoidance due to their complexity and importance. This paper introduces an approach to a group of quadcopter control by integrating fuzzy controller, guidance route, and Artificial Potential Field (APF) methods. The quadcopter dynamic model, featuring six degrees of freedom, is controlled using a fuzzy state feedback controller in its inner loop. From the outer loop, the formation-making is guided by an easy-to-use and versatile guidance route approach while obstacle avoidance is tackled using the optimal APF method. There are two avoidance strategies that can be compared and analyzed, called "total avoidance" and "minimal avoidance", both individually and as a "combined" strategy. Simulations in various environments with different obstacle sizes show that all control algorithms can accomplish the tasks effectively. Both strategies have their own strength in terms of path length and formation maintenance. A formation performance index, which is calculated based on the difference between the desired position and the actual position of each quadcopter, is used to quantify the effectiveness of the method. A smaller value means better formation maintenance. The total avoidance strategy achieved an average index of 0.8000 and the minimal avoidance strategy reached 1.2227. These metrics highlight the trade-offs of each strategy in maintaining optimal formation. These findings offer valuable insights for the development of more robust multi-UAV systems, with potential applications in autonomous delivery services, surveillance, and environmental monitoring.
Cooperative Formation and Obstacle Avoidance Control for Multi-UAV Based on Guidance Route and Artificial Potential Field Sahal, Mochammad; Maynad, Vincentius Charles; Bilfaqih, Yusuf
Journal of Robotics and Control (JRC) Vol. 5 No. 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23577

Abstract

Research on cooperative control of multi-UAV systems has gained significant attention in the flight control field, with a particular focus on formation control and obstacle avoidance due to their complexity and importance. This paper introduces an approach to a group of quadcopter control by integrating fuzzy controller, guidance route, and Artificial Potential Field (APF) methods. The quadcopter dynamic model, featuring six degrees of freedom, is controlled using a fuzzy state feedback controller in its inner loop. From the outer loop, the formation-making is guided by an easy-to-use and versatile guidance route approach while obstacle avoidance is tackled using the optimal APF method. There are two avoidance strategies that can be compared and analyzed, called "total avoidance" and "minimal avoidance", both individually and as a "combined" strategy. Simulations in various environments with different obstacle sizes show that all control algorithms can accomplish the tasks effectively. Both strategies have their own strength in terms of path length and formation maintenance. A formation performance index, which is calculated based on the difference between the desired position and the actual position of each quadcopter, is used to quantify the effectiveness of the method. A smaller value means better formation maintenance. The total avoidance strategy achieved an average index of 0.8000 and the minimal avoidance strategy reached 1.2227. These metrics highlight the trade-offs of each strategy in maintaining optimal formation. These findings offer valuable insights for the development of more robust multi-UAV systems, with potential applications in autonomous delivery services, surveillance, and environmental monitoring.
Integrated Radar and Missile System with Poisson-Prioritized Threat Management and PPN Guidance for Countering Multiple UAV Threats Hage, Giselle; Santoso, Ari; Sahal, Mochammad
Journal of Robotics and Control (JRC) Vol. 6 No. 1 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

In military defense, critical infrastructure protection, and border and maritime surveillance, radar detection plays a critical role in neutralizing threats, since slight delays in detection can enable hostile UAVs to breach defenses and target critical objectives. This research proposes an air defense systems, consists of integrated radar and missile system, to detect and neutralize aerial threats. The radar detects UAVs, tracks their trajectories, and prioritizes threats according to the distance of UAVs within its detection range, incorporating Poisson-distributed probability to dynamically allocate missile resources, allowing the systems to cover broader threat zones, which is crucial for the real-time interception of multiple UAVs. Each UAV is equipped with a state feedback controller for accurate navigation, while the missile system consistently enhancing its trajectory to accurately track and intercept threats under PPN guidance. Simulated experiments indicate that the proposed system intercepted the aerial threats within its operational range and time constraints in various battlefield scenarios. The system’s effect within its operational radius has also been evaluated in an experiment designed to counter a swarm of 6 UAVs flies in a predefined formation. In this scenario, the air defense system successfully launched a missile towards UAV swarms that neutralized 83.33% of total identified threats. The proposed system can be an alternative air defense systems to confront UAV threats in battlefield situations, with potential application in disaster management, search and rescue, and early warning system.
Co-Authors Abdullah Alkaff Ari Santoso Hady, Mohamad Abdul Hage, Giselle Majid, Muhammad Aqil Rayhan Maynad, Vincentius Charles Mileanasari, Fadhilah Nugraha, Yurid Eka Nurlita Gamayanti Putra, Misbah Habib Trihastuti Agustinah Yusuf Bilfaqih Zulkifli Hidayat