TY - GEN
T1 - A distributed formation control method of swarm UAVs based on artificial potential field and consensus strategy
AU - Fu, Xiaowei
AU - Wang, Haixiang
AU - Pan, Jing
AU - Gao, Xiaoguang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
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.
UR - http://www.scopus.com/inward/record.url?scp=85078727801&partnerID=8YFLogxK
U2 - 10.1109/ANZCC47194.2019.8945774
DO - 10.1109/ANZCC47194.2019.8945774
M3 - 会议稿件
AN - SCOPUS:85078727801
T3 - 2019 Australian and New Zealand Control Conference, ANZCC 2019
SP - 210
EP - 214
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 -