Bennet, Derek James and McInnes, Colin and Suzuki, M. and Uchiyama, K. (2011) Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles. Journal of Guidance, Control and Dynamics, 34 (6). pp. 1899-1908. ISSN 0731-5090
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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-degreeof-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.
|Keywords:||formation flying, swarm robotics, bifurcating potential fields, unmanned aerial vehicles, autonomous patterns, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics|
|Subjects:||Technology > Mechanical engineering and machinery|
Technology > Motor vehicles. Aeronautics. Astronautics
|Department:||Faculty of Engineering > Mechanical and Aerospace Engineering|
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|Depositing user:||Pure Administrator|
|Date Deposited:||18 Nov 2011 11:27|
|Last modified:||16 Jun 2013 08:03|
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