@article { author = {Zibaei, Ehasan and Amiri Atashgah, Mohammad-Ali and Kalhor, Ahmad}, title = {Automatic tuning of a behavior-based guidance algorithm for formation flight of quadrotors}, journal = {Journal of Aerospace Science and Technology}, volume = {12}, number = {2}, pages = {19-33}, year = {2019}, publisher = {Iranian Aerospace Society}, issn = {1735-2134}, eissn = {2345-3648}, doi = {}, abstract = {This paper presents a tuned behavior-based guidance algorithm for formation flight of quadrotors. The behavior-based approach provides the basis for the simultaneous realization of different behaviors such as leader following and obstacle avoidance for a group of agents; in our case they are quadcopters. In this paper optimization techniques are utilized to tune the parameters of a behavior-based guidance algorithm; to compromise between safety, trajectory optimality, and control effort during the formation flight. The tuning is formulated as a constraint optimization problem where the penalty function method is used to secure the safe passage of quadrotors around an obstacle. The guidance subsystem is integrated with a consistent dynamic inversion controller to realize a smooth maneuver of the quadrotors along desired trajectories. For more, MATLAB/Simulink is used as the programming platform. The effectiveness of the tuning method is verified, based on the performance of the closed-loop system in the presence of an overall navigation system uncertainties and actuator lags.}, keywords = {Formation flight,Behavior-based Algorithm,obstacle avoidance,Constraint Optimization}, url = {https://jast.ias.ir/article_114003.html}, eprint = {https://jast.ias.ir/article_114003_2b16e4be50bc0cecc7a755949715d457.pdf} }