Autonomous Three-Dimensional Formation Flight for a Swarm of Unmanned Aerial Vehicles

作者：Bennet Derek J^*; McInnes C R; Suzuki M; Uchiyama K

来源：Journal of Guidance, Control, and Dynamics, 2011, 34(6): 1899-1908.

DOI：10.2514/1.53931

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-degree-of-freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.

• 出版日期2011-12