| Abstract: |  This thesis deals with the design, implementation and veri cation an
algorithm of escape behaviour, which decreases the possibility of collision
of a swarm of unmanned helicopters (UAV) with dynamic obstacles.
The model of the quad-rotor movement and constraints given by relative
localization of swarm particles is also implemented in the algorithm,
which is crucial for real deployment of the method. Controller for the
real model of the quad-rotor is designed and it calculates the speed
of each propeller of quad-rotors depending on a prescribed trajectory.
The algorithm for swarm control has been inspired by a paper [1],
where the algorithm of escape behaviour for 2D robots with di erential
drive is described. The functionality of 2D algorithm is performed using
simulations and testing on a robotic platformSyRoTek. The functionality
of extended algorithm for UAV is veri ed using simulations in Matlab. |
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