Smoothed Particle Hydrodynamics Approach to Aggregation of Quadrotor Unmanned Aerial Vehicle Swarm

Abstract

This paper uses a fluid mechanics approach to perform swarming aggregation on a quadrotor unmanned aerial vehicle (QUAV) swarm platform. This is done by adapting the Smoothed Particle Hydrodynamics (SPH) technique. An algorithm benchmarking is conducted to see how well SPH performs. Simulations of varying set-ups are experimented to compare different algorithms with SPH. The position error of SPH is 30% less than the benchmark algorithm when a target enclosure is introduce. SPH is implemented using Crazyflie quadrotor swarm. The aggregation behavior exhibited successfully in the said platform.