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All Journal Jurnal Ilmiah Mikrotek Jurnal Simantec Jurnal Otomasi Kontrol dan Instrumentasi MULTINETICS Journal of Robotics and Control (JRC) JAREE (Journal on Advanced Research in Electrical Engineering)
Muhammad Fuad
Fakultas Teknik, Universitas Trunojoyo
Aerospace Engineering Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Mechanical Engineering Other

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Journal : JAREE (Journal on Advanced Research in Electrical Engineering)

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Cooperative Position-based Formation-pursuit of Moving Targets by Multi-UAVs with Collision Avoidance Siti Nurjanah; Trihastuti Agustinah; Muhammad Fuad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 6, No 2 (2022): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v6i2.310

Abstract

The paper focuses on the issue of capturing a moving target for multiple unmanned aerial vehicles (UAVs). The problem involves a group of UAVs to create a formation-pursuit in the encirclement of a moving target. Dynamic task allocation algorithm is used in 3D dynamic environments to efficiently allocate the target to several existing UAVs. Target information is disseminated to neighbor UAVs by the temporary leader of UAVs. For the formation-pursuit using a position-based strategy, destination points to create formation are made at the sphere coordinates around a moving target. Then the destination points are tracked using a fuzzy state feedback controller. Optimized artificial potential field (APF) algorithm is used to avoid collisions with targets, other UAVs, and static obstacles. Each UAV can choose the optimal trajectory to avoid obstacles and reset the formation after passing them. The simulation results show that multi-UAVs successfully surrounded and formed formation-pursuit of a moving target without colliding with the closest Euclidean distance between UAVs of 1.32957 m. UAVs with a target is 1.94359 m, and UAVs with static obstacles within a range of 1.60632 m.Keywords—formation-pursuit, multi-UAVs, obstacle avoidance, task allocation, tracking control.
Modified Extremum Seeking Control for Target Tracking and Formation Control in Pursuit-Evasion Game Setiawan, Fachruddin Ari; Agustinah, Trihastuti; Fuad, Muhammad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 6, No 2 (2022): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v6i2.320

Abstract

In a pursuit-evasion game, the mobile robot pursuer's ability to navigate from its initial position to the evader while maintaining a safe distance from other objects requires a good obstacle avoidance system. This study aims to perform target tracking in evader sieges and obstacle avoidance against other pursuer robots and static obstacles by proposing a modified extreme seeking controller (ESC). A modified backstepping control (BC) was used as an autopilot control for a nonholonomic mobile robot to execute the modified ESC command. The modified BC based on the modified ESC requires the positions of the targeted evader, pursuers, and obstacles. The pursuer uses this information to capture an evader by arranging the desired formation without colliding with static obstacles or other robots. The results of the simulations show that the pursuers successfully surround the evader and construct the formation without colliding with obstacles. The proposed method resulted in the closest distance of 2.071 m between the pursuers, 1.954 m between each pursuer and the evader, and 2.425 m between the pursuers and static obstacles.
Co-Authors Ahmad Sahru Romadhon Alfian Ma’arif Andharini Dwi Cahyani Darwaman, Mochammad Ilham Diah Kusumawati Faikul Umam Maulana, Fahmi Nuniek Fahriani, Nuniek Nurwahyudi, Ilham Setiawan, Fachruddin Ari Siti Nurjanah Sri Wahyuni Suwarno, Iswanto Trihastuti Agustinah Trihastuti Agustinah Wahyu Caesarendra Wahyudi Setiawan