Engineering Commons^™

Cyber-Physical Systems With Multi-Unmanned Aerial Vehicle-Based Cooperative Source Seeking And Contour Mapping, Jinlu Han

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This dissertation presents the design, simulation, and execution of multi-unmanned aerial vehicles (UAV)-based cooperative source seeking and contour mapping with cyber-physical systems (CPS). Both fixed-wing UAVs and vertical takeoff and landing (VTOL) UAVs are developed as the flight platforms. Compared with single UAV, multi-UAV formation with advanced cooperative control strategies has more advantages for radiative source detection, especially in urgent tasks, for example, detecting nuclear radiation before deploying the salvage. A contour mapping algorithm for the nuclear radiation is proposed, and practical predefined waypoint-based formation flights are realized. Next, four scenarios are developed for multi-UAV-based cooperative source seeking and contour …