Three-dimensional formation flying using bifurcating potential fields

Suzuki, Masayuki and Uchiyama, Kenji and Bennet, Derek J. and McInnes, Colin R. (2009) Three-dimensional formation flying using bifurcating potential fields. In: AIAA Guidance, Navigation and Control Conference, 2009-08-10 - 2009-08-13. (https://doi.org/10.2514/6.2009-5884)

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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.

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• Item metadata

  Item type:	Conference or Workshop Item(Paper)
  ID code:	13129
  Dates:	Date Event 13 August 2009 Published
  Subjects:	Technology > Mechanical engineering and machinery Technology > Motor vehicles. Aeronautics. Astronautics
  Department:	Faculty of Engineering > Mechanical and Aerospace Engineering
  Depositing user:	Ms Katrina May
  Date deposited:	05 Oct 2009 09:22
  Last modified:	12 Dec 2024 16:11
  URI:	https://strathprints.strath.ac.uk/id/eprint/13129