Vector Fields for UAV Guidance Using Potential Function Method for Formation Flight
Vector Fields for UAV Guidance Using Potential Function Method for Formation Flight
复制标题
编队飞行势函数法无人机制导矢量场
DOI：
10.2514/6.2013-4626
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
K. Uchiyama
中科院分区：
文献类型：
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作者：
Kento Nakai;K. Uchiyama
通过势函数法生成的矢量场，可以实现对直线、圆等几何图形的全局稳定跟踪。例如，通过构建具有以目标位置为中心的稳定极限环的矢量场来确定UAV到围绕目标的观察圆的引导。针对多固定翼无人机（UAV）编队飞行问题，提出了一种基于势函数的导引律设计方法。将矢量场视为速度场，得到了制导律。将最优控制理论应用于小型无人机的飞行控制系统设计。理论结果表明，使用数值仿真验证所提出的飞行控制系统的有效性。已开发的无人机用于演示使用控制系统执行直线和圆形编队飞行的能力。
A vector field, which is generated by using the potential function method, yields globally stable tracking of geometrical patterns such as line and circle. For instance, a guidance of UAVs to an observation circle around a target is determined by building a vector field that has a stable limit cycle centered on the target position. This paper presents a design of guidance law for a formation flight of multiple fixed-wing unmanned aerial vehicles (UAVs) through use of a potential function that basically consists of steering and repulsive functions. The guidance law is obtained by considering a vector field as velocity field. Optimal control theory is applied to design of a flight control system for small UAVs. Theoretical results are illustrated using numerical simulation to verify the validity of the proposed flight control system. Developed UAVs are used to demonstrate the ability to perform line and circular formation flight using the control system.