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.
|Number of pages||11|
|Publication status||Published - 13 Aug 2009|
|Event||AIAA Guidance, Navigation and Control Conference - Chicago, Illinois|
Duration: 10 Aug 2009 → 13 Aug 2009
|Conference||AIAA Guidance, Navigation and Control Conference|
|Period||10/08/09 → 13/08/09|
- formation flying
- unmanned aerial vehicles
- bifurcating potential fields
- swarming patterns
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, .