Implementation of Modified Ant-Colony Optimization Algorithm using Crazyflie Nano Quadcopters

Karlisa Priandana, Medria Kusuma Dewi Hardhienata, Pradhipta Trimanggala Satya, Wulandari, Made Widhi Surya Atman

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

Multi-UAV systems have been widely used in various fields, including agriculture. Effective coordination and task allocation are essential components of these systems. This study focuses on optimizing the coordination of multi-UAVs by adapting Modified Ant Colony Optimization (M-ACO) and K-Means Algorithms. Prior to implementing these algorithms, it is necessary to configure a multi/swarm-UAV system. In this study, we have configured the Crazyflie UAVs and Crazyswarm software for a laboratory experiment. Subsequently, the configured swarm-UAV system undergoes testing using the M-ACO algorithm, and the results are compared with the actual positions in real experiments. The experiments revealed that the average position errors for the UAVs are as follows: -0.084 ± 0.033 cm for the x-axis, -0.251 ± 0.2 cm for the y-axis, and 0.01 ± 0.09 cm for the z-axis. These results indicate that, in general, the UAVs can achieve their target positions with a relatively low margin of error.

Original languageEnglish
Title of host publicationINCITEST 2023 - Proceedings of the 2023 International Conference on Informatics Engineering, Science and Technology
PublisherIEEE
Number of pages6
ISBN (Electronic)979-8-3503-1786-2
DOIs
Publication statusPublished - 2023
Publication typeA4 Article in conference proceedings
Event2023 International Conference on Informatics Engineering, Science and Technology, INCITEST 2023 - Bandung, Indonesia
Duration: 25 Oct 2023 → …

Publication series

NameINCITEST 2023 - Proceedings of the 2023 International Conference on Informatics Engineering, Science and Technology

Conference

Conference2023 International Conference on Informatics Engineering, Science and Technology, INCITEST 2023
Country/TerritoryIndonesia
CityBandung
Period25/10/23 → …

Keywords

  • ACO
  • crazyflie
  • crazyswarm
  • multi-uav
  • swarmuav

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems
  • Information Systems and Management
  • Media Technology
  • Control and Optimization
  • Modelling and Simulation

Fingerprint

Dive into the research topics of 'Implementation of Modified Ant-Colony Optimization Algorithm using Crazyflie Nano Quadcopters'. Together they form a unique fingerprint.

Cite this