Picture of DNA strand

Pioneering chemical biology & medicinal chemistry through Open Access research...

Strathprints makes available scholarly Open Access content by researchers in the Department of Pure & Applied Chemistry, based within the Faculty of Science.

Research here spans a wide range of topics from analytical chemistry to materials science, and from biological chemistry to theoretical chemistry. The specific work in chemical biology and medicinal chemistry, as an example, encompasses pioneering techniques in synthesis, bioinformatics, nucleic acid chemistry, amino acid chemistry, heterocyclic chemistry, biophysical chemistry and NMR spectroscopy.

Explore the Open Access research of the Department of Pure & Applied Chemistry. Or explore all of Strathclyde's Open Access research...

Strathprints

Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles

Bennet, Derek James and McInnes, Colin and Suzuki, Masayuki and Uchiyama, Kenji (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 1533-3884

[img] PDF
McInnes_CR_Pure_Autonomous_three_dimensional_formation_flight_Nov_2011.pdf
Preprint
Download (2MB)

Abstract

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.

Item type: Article
ID code: 36030
Keywords: formation flying, swarm robotics, bifurcating potential fields, unmanned aerial vehicles, autonomous 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
Technology and Innovation Centre > Advanced Engineering and Manufacturing
Depositing user: Pure Administrator
Date deposited: 18 Nov 2011 11:27
Last modified: 05 Feb 2019 16:02
Related URLs:
URI: https://strathprints.strath.ac.uk/id/eprint/36030
Export data:
CORE (COnnecting REpositories)