Modelling of UAV formation flight using 3D potential field

被引：122

作者：

Paul, Tobias ^{[2
]}

Krogstad, Thomas R. ^{[1
]}

Gravdahl, Jan Tommy ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7033 Trondheim, Norway

[2] ESG Elekt Syst & Logist GmbH, Furstenfeldbruck, Germany

来源：

SIMULATION MODELLING PRACTICE AND THEORY | 2008年 / 16卷 / 09期

关键词：

Unmanned systems; Aerospace control; Modelling; Collision avoidance; Formation flight;

D O I：

10.1016/j.simpat.2008.08.005

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper, we present a Solution far formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, the method is universal applicable by driving the vehicle's auto pilot. The solution is verified, using a group of UAVs based on a simplified small scale helicopter, which is simulated in MATLAB (TM)/Simulink (TM). As necessary for helicopters, the potential field approach is realized in 3D including obstacle and collision avoidance. The collision avoidance strategy could be used separately for the sense and avoid problem. (C) 2008 Elsevier B.V. All rights reserved.

引用

页码：1453 / 1462

页数：10

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