Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles
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DOI：
10.2514/1.53931
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发表时间：
2011-11-01
影响因子：
2.6
通讯作者：
Uchiyama, K.
中科院分区：
文献类型：
--
作者：
Bennet, Derek J.;McInnes, C. R.;Uchiyama, K.
研究了一种新的无人机编队制导算法。使用分叉的新方法的势场，它表明，形成的无人驾驶飞行器可以成功地控制，以实现可验证的自主模式，一个简单的参数开关允许模式之间的过渡。本文提出的关键贡献是在一个新的有界分叉势场的发展，避免饱和的车辆执行器，这是必不可少的真实的或安全关键的应用。为了证明这一点，开发的指导和控制方法，基于六自由度线性化的飞机模型，显示，在模拟中，可以实现一群无人机的三维编队飞行。
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-degree-of-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.