Resultant Force Approach for Swarm UAV Behaviors

Swarm robotics is an approach in collective robotics inspired by the self-organized behavior of social animals. Through simple rules and local interactions, swarm robotics aims at designing robust, scalable, and flexible collective behaviors for the coordination of large numbers of robots. In this study, swarm behavior has been performed with limited communication and decentralized management in the simulation environment. We can list these swarm behaviors as follows; formation, coordinated navigation by protecting the formation, separation-reunion, passing through the passageway, leader selection, leader following. In our proposed method, each UAV is swarm determines the situation they are in according to its own position, the position of neighbor UAVs, the position of the goal, and if there is a strait, the position and size of the strait. UAVs calculate vectors that perform different tasks according to the situation they determine at the moment, and combine these vectors to decide their next move.