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
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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.
Creators(s): | Bennet, Derek James, McInnes, Colin, Suzuki, Masayuki and Uchiyama, Kenji; | Item type: | Article |
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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: | 26 Feb 2021 03:54 |
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URI: | https://strathprints.strath.ac.uk/id/eprint/36030 |
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