Formation flight control method of multiple UAVs based on guidance route

被引：0
|
作者：
Wu J. [1 ]
Zhou R. [1 ]
Dong Z. [1 ]
Che J. [2 ]
机构：
[1] Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing
[2] AVIC Automatic Flight Control Research Institute, Xi'an
来源：
Zhou, Rui (zhr@buaa.edu.cn) | 2016年 / Beijing University of Aeronautics and Astronautics (BUAA)卷 / 42期
基金：
中国国家自然科学基金;
关键词：
Collision avoidance; Formation flight; Guidance route; Obstacle avoidance; Unmanned aerial vehicle (UAV);
D O I：
10.13700/j.bh.1001-5965.2015.0458
中图分类号：
学科分类号：
摘要：
To solve the problem of formation flight control of multiple unmanned aerial vehicles (UAVs), a coordinated control method based on guidance route was proposed. According to the position error between wingman's current location and desired location and the flight status of leader, guidance route was generated for wingman to track. In view of the sudden obstacles during flight, the method of changing formation configuration was used to avoid obstacles. For possible collisions between UAVs, according to UAVs' position and time of arrival at the collision point, UAV avoided collision from two aspects of height and heading. The simulation results demonstrate that using this method, UAV can maintain stable formations, and meanwhile be able to avoid the obstacles during the flight and avoid the collision between aircrafts. © 2016, Editorial Board of JBUAA. All right reserved.
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页码：1518 / 1525
页数：7
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