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Strathprints serves world leading Open Access research by the University of Strathclyde, including research by the Strathclyde Institute of Pharmacy and Biomedical Sciences (SIPBS), where research centres such as the Industrial Biotechnology Innovation Centre (IBioIC), the Cancer Research UK Formulation Unit, SeaBioTech and the Centre for Biophotonics are based.

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Three-dimensional formation flying using bifurcating potential fields

Suzuki, Masayuki and Uchiyama, Kenji and Bennet, Derek J. and McInnes, C.R. (2009) Three-dimensional formation flying using bifurcating potential fields. In: AIAA Guidance, Navigation and Control Conference, 2009-08-10 - 2009-08-13.

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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.