Abstract
This paper investigates the development of a new guidance algorithm for a formation of unmanned aerial vehicles. Using the new approach of bifurcating potential fields, it is shown that a formation of unmanned aerial vehicles can be
successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns. The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications. To demonstrate this, a guidance and control method is developed, based on a six-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.
successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns. The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications. To demonstrate this, a guidance and control method is developed, based on a six-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.
Original language | English |
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Pages (from-to) | 1899-1908 |
Journal | Journal of Guidance, Control and Dynamics |
Volume | 34 |
Issue number | 6 |
DOIs | |
Publication status | Published - Nov 2011 |
Keywords
- formation flying
- swarm robotics
- bifurcating potential fields
- unmanned aerial vehicles
- autonomous patterns