UAV formation and obstacle avoidance based on Improved APF

被引：0
|
作者：
Feng, Yunduo [1 ]
Wu, Yanxuan [1 ]
Cao, Haozhe [1 ]
Sun, Jiankun [1 ]
机构：
[1] Beijing Inst Technol, Beijing 100081, Peoples R China
来源：
PROCEEDINGS OF 2018 10TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC) | 2018年
关键词：
UAV; formation; obstacle avoidance; APF; SYSTEMS; AIRCRAFT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper put forward a solution for fixed-wing UAV formation control and obstacles avoidance based on an improved artificial potential field method (APF) and leader-follower structure. First, simplified model of fixed-wing UAV with kinematic constraints is introduced. Subsequently an improved APF considering the kinematic constraints and formation configuration is proposed. Then, a formation transformation method based on improved APF is put forward to increase the flexibility and reliability of formation to avoid obstacles in environment, which means the feedback of obstacle information to formation controller. Finally, simulations of UAV formation, tracking the desired trajectory and obstacle avoidance is presented and the results verify the effectiveness of the improved APF method.
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收藏
页数：6
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