UAV formation flight using 3D potential field

Tobias Paul,Thomas R Krogstad,Jan Tommy Gravdahl

doi:10.1109/med.2008.4601984

UAV formation flight using 3D potential field

Tobias Paul, Thomas R Krogstad + Show 1 more

https://doi.org/10.1109/med.2008.4601984

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Publication Date: Jun 1, 2008

Citations: 63

Affiliation: Würth Elektronik (Germany), Norwegian University of Science and Technology

#Unmanned Aerial Vehicles Formation Flight #Unmanned Aerial Vehicles + Show 8 more

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Abstract

The paper presents a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, it is universal applicable by driving the vehiclepsilas auto pilot. The solution is verified, using a group of UAVs based on a simplified small-scale helicopter, which is simulated in MATLABtrade/Simulinktrade. 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.

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