Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles

Bennet, D. J., McInnes, C.R. , Suzuki, M. and Uchiyama, K. (2011) Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles. Journal of Guidance, Control, and Dynamics, 34(6), pp. 1899-1908. (doi: 10.2514/1.53931)

Abstract

This paper investigates the development of a new guidance algorithm for a formation of unmanned aerial vehicles. Using the new approach of bifurcating potential fields, it is shown that a formation of unmanned aerial vehicles can be successfully controlled such that verifiable autonomous patterns are achieved, with a simple parameter switch allowing for transitions between patterns. The key contribution that this paper presents is in the development of a new bounded bifurcating potential field that avoids saturating the vehicle actuators, which is essential for real or safety-critical applications. To demonstrate this, a guidance and control method is developed, based on a six-degreeof- freedom linearized aircraft model, showing that, in simulation, three-dimensional formation flight for a swarm of unmanned aerial vehicles can be achieved.

• Item Type: Articles
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: McInnes, Professor Colin
• Authors: Bennet, D. J., McInnes, C.R., Suzuki, M., and Uchiyama, K.
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy
• Journal Name: Journal of Guidance, Control, and Dynamics
• Publisher: American Institute of Aeronautics and Astronautics
• ISSN: 0731-5090
• ISSN (Online): 1533-3884