A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy

Xiaowei Fu; Haixiang Wang; Jing Pan; Xiaoguang Gao

doi:10.1109/ANZCC47194.2019.8945774

A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy

Xiaowei Fu, Haixiang Wang, Jing Pan, Xiaoguang Gao

School of Electronics and Information

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.

Original language	English
Title of host publication	2019 Australian and New Zealand Control Conference, ANZCC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	210-214
Number of pages	5
ISBN (Electronic)	9781728117867
DOIs	https://doi.org/10.1109/ANZCC47194.2019.8945774
State	Published - Nov 2019
Event	2019 Australian and New Zealand Control Conference, ANZCC 2019 - Auckland, New Zealand Duration: 27 Nov 2019 → 29 Nov 2019

Publication series

Name	2019 Australian and New Zealand Control Conference, ANZCC 2019

Conference

Conference	2019 Australian and New Zealand Control Conference, ANZCC 2019
Country/Territory	New Zealand
City	Auckland
Period	27/11/19 → 29/11/19

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10.1109/ANZCC47194.2019.8945774

Cite this

Fu, X., Wang, H., Pan, J., & Gao, X. (2019). A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy. In 2019 Australian and New Zealand Control Conference, ANZCC 2019 (pp. 210-214). Article 8945774 (2019 Australian and New Zealand Control Conference, ANZCC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ANZCC47194.2019.8945774

@inproceedings{b74d37dc100c4356850d07de14332149,

title = "A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy",

abstract = "This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.",

author = "Xiaowei Fu and Haixiang Wang and Jing Pan and Xiaoguang Gao",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Australian and New Zealand Control Conference, ANZCC 2019 ; Conference date: 27-11-2019 Through 29-11-2019",

year = "2019",

month = nov,

doi = "10.1109/ANZCC47194.2019.8945774",

language = "英语",

series = "2019 Australian and New Zealand Control Conference, ANZCC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "210--214",

booktitle = "2019 Australian and New Zealand Control Conference, ANZCC 2019",

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Fu, X, Wang, H, Pan, J & Gao, X 2019, A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy. in 2019 Australian and New Zealand Control Conference, ANZCC 2019., 8945774, 2019 Australian and New Zealand Control Conference, ANZCC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 210-214, 2019 Australian and New Zealand Control Conference, ANZCC 2019, Auckland, New Zealand, 27/11/19. https://doi.org/10.1109/ANZCC47194.2019.8945774

A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy. / Fu, Xiaowei; Wang, Haixiang; Pan, Jing et al.
2019 Australian and New Zealand Control Conference, ANZCC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 210-214 8945774 (2019 Australian and New Zealand Control Conference, ANZCC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.

AB - This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.

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BT - 2019 Australian and New Zealand Control Conference, ANZCC 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 Australian and New Zealand Control Conference, ANZCC 2019

Y2 - 27 November 2019 through 29 November 2019

ER -

Fu X, Wang H, Pan J, Gao X. A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy. In 2019 Australian and New Zealand Control Conference, ANZCC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 210-214. 8945774. (2019 Australian and New Zealand Control Conference, ANZCC 2019). doi: 10.1109/ANZCC47194.2019.8945774

A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy

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