Suzuki, Masayuki and Uchiyama, Kenji and Bennet, Derek James and McInnes, Colin (2011) Three-dimensional formation flight for UAV using bifurcating velocity field. Journal of the Japan Society of Aeronautical and Space Sciences, 59 (693). pp. 259-265.
Bennet_DJ_McInnes_CR_Pure_Three_dimensional_formation_flight_for_UAV_using_bifurcating_velocity_field_Dec_2011.doc - Preprint
This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.
|Keywords:||UAV, formation flight, bifurcating velocity field, artificial potential functions, 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
Technology and Innovation Centre > Advanced Engineering and Manufacturing
|Depositing user:||Pure Administrator|
|Date Deposited:||22 Dec 2011 15:17|
|Last modified:||14 Sep 2016 00:03|