A leader-follower structure is one of the main structures in the formation tactics for cooperative Unmanned aerial vehicles (UAVs). In this paper, the problem of a faulty leader in the leader-follower structure is tackled. A cyclic strategy is introduced to solve this problem guaranteeing the success of the whole squadron mission. The proposed strategy depends mainly on training all the members of the squadron to perform the leader activities through different time slice during the mission. The main contribution of this paper is introducing a new cyclic strategy capable in solving the faulty leader problem. The simulation results prove the success of the designed cyclic strategy in different scenarios guaranteeing the stability of the squadron formation in the transition time slice during the substitution of the leader. Moreover, the results show the success of the squadron in achieving the desired mission.
Cyclic Leader-Follower Strategy For Cooperative Unmanned Aerial Vehicles
01.09.2019
1021411 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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