OBSTACLE AVOIDANCE AND FORMATION REGROUPING STRATEGY AND CONTROL FOR UAV FORMATION FLIGHT

被引:0
作者
Luo, Delin [1 ,2 ]
Wu, Jianmin [1 ]
Wu, ShunXiang [2 ]
机构
[1] China Natl Aeronaut Radio Elect Res Inst, Sci & Technol Avion Integrat Lab, Shanghai 200233, Peoples R China
[2] Xiamen Univ, Dept Automat, Xiamen 361005, Peoples R China
关键词
Unmanned aerial vehicle; formation flight; obstacle avoidance; formation regrouping; formation control;
D O I
10.2316/Journal.201.2014.2.201-2571
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Obstacle avoidance (OA) and formation regrouping (FR) are very important issues for implementation of automatic UAV formation flight. In this paper, the OA strategy and control for UAV leader are investigated first. Then, it is followed by investigation of the OA strategy and control for UAV follower. In the process of OA, to conduct OA reasonably and efficiently, the formation is split first and then all the UAVs regroup to fly in the original formation after OA process is completed. To this end, formation splitting and regrouping strategies in four OA scenarios are presented for UAV formation flight. Simulation experimental results demonstrate that the presented OA and FR strategies and control are effective.
引用
收藏
页码:136 / 143
页数:8
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