부산대학교 도서관

In recent years, drone control has received significant attention due to their versatile applications across various fields. Swarm drones have proven highly effective, offering promise in environmental monitoring, search and rescue missions, disaster response scenarios, aerial shows, and collective exploration. Despite numerous studies on swarm navigation in formation, the attainment of a sturdy leader and follower configuration remains a challenge. Moreover, continuous autonomous remote monitoring by drone swarms is a complex task, as it involves addressing difficulties in maintaining appropriate distances and angles between drones to avoid collisions effectively. To address these challenges, the proposed solution integrates a leader and follower model with exact distance and angle thresholds, ensuring a minimal collision risk with an error rate distance of ±0.4m and angle is 5°. A multi communication approach combines 4G LTE and Telemetry over UART communication with Wi- Fi for continuous autonomous remote monitoring, enhancing connections and overall performance. Additionally, the system leverages Cloud and command control stations to enable remote management, improving efficiency and scalability. Extensive simulations and real-time experiments involving a swarm of leader- follower formation drones thoroughly validate the efficiency and robustness of the designed system.