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

Xiaowei Fu, Haixiang Wang, Jing Pan, Xiaoguang Gao

科研成果: 书/报告/会议事项章节会议稿件同行评审

8 引用 (Scopus)

摘要

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.

源语言英语
主期刊名2019 Australian and New Zealand Control Conference, ANZCC 2019
出版商Institute of Electrical and Electronics Engineers Inc.
210-214
页数5
ISBN(电子版)9781728117867
DOI
出版状态已出版 - 11月 2019
活动2019 Australian and New Zealand Control Conference, ANZCC 2019 - Auckland, 新西兰
期限: 27 11月 201929 11月 2019

出版系列

姓名2019 Australian and New Zealand Control Conference, ANZCC 2019

会议

会议2019 Australian and New Zealand Control Conference, ANZCC 2019
国家/地区新西兰
Auckland
时期27/11/1929/11/19

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