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A Fixed-Wing UAV Formation Algorithm Based on Vector Field Guidance
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AI
DOI：10.1109/TASE.2022.3144672.png)
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摘要
En 中文
The vector field method was originally proposed to guide a single fixed-wing Unmanned Aerial Vehicle (UAV) towards a desired path. In this work, a non-uniform vector field method is proposed that changes in both magnitude and direction, for the purpose of achieving formations of UAVs. As compared to related work in the literature, the proposed formation control law does not need to assume absence of wind. That is, due to the effect of the wind on the UAV, one can handle the UAV air speed being different from its ground speed, and the UAV heading angle being different from its course angle. Stability of the proposed formation method is analyzed via Lyapunov stability theory, and validations are carried out in software-in-the-loop and hardware-in-the-loop comparative experiments.
Keyword:
Autopilot
Autonomous aerial vehicles
Standards
Orbits
Task analysis
Computer architecture
Wind speed
Formation control
vector field
unmanned aerial vehicles
hardware-in-the-loop
PX4 autopilot
期刊
IF:
6.4
论文数:
5.1K
被引数:
1.6W
机构
引用论文
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分享收藏Fixed-Wing UAV Formation Control Design With Collision Avoidance Based on an Improved Artificial Potential Field.png)
IEEE ACCESS
OAAI
IEEE ACCESSIF3.6
OAAI分享收藏Consensus-based cooperative control of parallel fixed-wing UAV formations via adaptive backstepping基于自适应反推的并行固定翼无人机编队一致性协同控制
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