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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, Chicago, Illinois.

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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.

    Item type: Conference or Workshop Item (Paper)
    ID code: 13129
    Keywords: formation flying, unmanned aerial vehicles, bifurcating potential fields, swarming patterns, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering
    Subjects: Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department: Faculty of Engineering > Mechanical and Aerospace Engineering
    Related URLs:
    Depositing user: Ms Katrina May
    Date Deposited: 05 Oct 2009 10:22
    Last modified: 07 Jun 2014 05:37
    URI: http://strathprints.strath.ac.uk/id/eprint/13129

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