Three-dimensional formation flying using bifurcating potential fields

Masayuki Suzuki, Kenji Uchiyama, Derek J. Bennet, Colin R. McInnes

Research output: Contribution to conferencePaper

16 Citations (Scopus)
45 Downloads (Pure)

Abstract

This paper describes the design of a three-dimensional formation flying guidance and control algorithm for a swarm of autonomous Unmanned Aerial Vehicles (UAVs), using the new approach of bifurcating artificial potential fields. We consider a decentralized control methodology that can create verifiable swarming patterns, which guarantee obstacle and vehicle collision avoidance. Based on a steering and repulsive potential field the algorithm supports flight that can transition between different formation patterns by way of a simple parameter change. The algorithm is applied to linear longitudinal and lateral models of a UAV. An experimental system to demonstrate formation flying is also developed to verify the validity of the proposed control system.
Original languageEnglish
Number of pages11
Publication statusPublished - 13 Aug 2009
EventAIAA Guidance, Navigation and Control Conference - Chicago, Illinois
Duration: 10 Aug 200913 Aug 2009

Conference

ConferenceAIAA Guidance, Navigation and Control Conference
CityChicago, Illinois
Period10/08/0913/08/09

Keywords

  • formation flying
  • unmanned aerial vehicles
  • bifurcating potential fields
  • swarming patterns

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  • Cite this

    Suzuki, M., Uchiyama, K., Bennet, D. J., & McInnes, C. R. (2009). Three-dimensional formation flying using bifurcating potential fields. Paper presented at AIAA Guidance, Navigation and Control Conference, Chicago, Illinois, .