@inproceedings{2a1f6895e9664c3bbf9dbb8bfe835444,
title = "Collision Avoidance Formation Control of Fixed-Wing UAVs with Nonholonomic Kinematic Constraints",
abstract = "In this paper, a distributed formation control strategy based on fixed-wing UAVs under collision avoidance and nonholonomic kinematic constraints is proposed. Firstly, considering that the fixed-wing UAVs cannot hover at fixed positions, the formation control problem is formulated as the optimization problem of assigning multiple desired trajectories to the same number of agents deployed in an open space. Secondly, a priority index for UAVs, Voronoi partition and artificial potential field are introduced, so that the UAVs can avoid collisions and ensure the safety of the agents. Finally, a distribution switching scheme is introduced to enable each UAV to update its own desired trajectory, and the whole team can asymptotically converge to the desired formation. The feasibility and stability of the proposed strategy are verified by theoretical analysis and numerical simulations with the real fixed-wing UAV model.",
keywords = "Collision avoidance, Distributed, Fixed-wing UAVs, Formation control",
author = "Liyuan Fan and Yifei Lei and Lei Lu and Jinwen Hu and Chunhui Zhao and Zhao Xu",
note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",
year = "2023",
doi = "10.1007/978-981-99-0479-2\_22",
language = "英语",
isbn = "9789819904785",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "233--242",
editor = "Wenxing Fu and Mancang Gu and Yifeng Niu",
booktitle = "Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022",
}