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)

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.
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

Fingerprint

Unmanned aerial vehicles (UAV)
Decentralized control
Collision avoidance
Control systems

Keywords

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

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, .
Suzuki, Masayuki ; Uchiyama, Kenji ; Bennet, Derek J. ; McInnes, Colin R. / Three-dimensional formation flying using bifurcating potential fields. Paper presented at AIAA Guidance, Navigation and Control Conference, Chicago, Illinois, .11 p.
@conference{23f59047bd5d45f2a64f9cd98081b677,
title = "Three-dimensional formation flying using bifurcating potential fields",
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.",
keywords = "formation flying, unmanned aerial vehicles, bifurcating potential fields, swarming patterns",
author = "Masayuki Suzuki and Kenji Uchiyama and Bennet, {Derek J.} and McInnes, {Colin R.}",
year = "2009",
month = "8",
day = "13",
language = "English",
note = "AIAA Guidance, Navigation and Control Conference ; Conference date: 10-08-2009 Through 13-08-2009",

}

Suzuki, M, Uchiyama, K, Bennet, DJ & McInnes, CR 2009, 'Three-dimensional formation flying using bifurcating potential fields' Paper presented at AIAA Guidance, Navigation and Control Conference, Chicago, Illinois, 10/08/09 - 13/08/09, .

Three-dimensional formation flying using bifurcating potential fields. / Suzuki, Masayuki; Uchiyama, Kenji; Bennet, Derek J.; McInnes, Colin R.

2009. Paper presented at AIAA Guidance, Navigation and Control Conference, Chicago, Illinois, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Three-dimensional formation flying using bifurcating potential fields

AU - Suzuki, Masayuki

AU - Uchiyama, Kenji

AU - Bennet, Derek J.

AU - McInnes, Colin R.

PY - 2009/8/13

Y1 - 2009/8/13

N2 - 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.

AB - 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.

KW - formation flying

KW - unmanned aerial vehicles

KW - bifurcating potential fields

KW - swarming patterns

M3 - Paper

ER -

Suzuki M, Uchiyama K, Bennet DJ, McInnes CR. Three-dimensional formation flying using bifurcating potential fields. 2009. Paper presented at AIAA Guidance, Navigation and Control Conference, Chicago, Illinois, .