Flocking is defined as flying in groups without colliding into each other through data exchange where each UAV applies a decentralized algorithm. In this paper, hybrid flocking control is proposed by using three types of guidance methods: vector field, Cucker-Smale model, and potential field. Typically, hybrid flocking control using several methods can lead to generating conflicting commands and thus degrading the performance of the mission. To address this issue, the adaptive Cucker-Smale model is proposed. Besides, we use social learning particle swarm optimization to determine the optimal weightings between guidance methods. It is verified through numerical simulations that the optimal weighting for missions such as loitering and target tracking results in effective flocking.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Decentralized Hybrid Flocking Guidance for a Swarm of Small UAVs


    Beteiligte:
    Lim, Seunghan (Autor:in) / Song, Yeongho (Autor:in) / Choi, Joonwon (Autor:in) / Myung, Hyunsam (Autor:in) / Lim, Heungsik (Autor:in) / Oh, Hyondong (Autor:in)


    Erscheinungsdatum :

    2019-11-01


    Format / Umfang :

    4308217 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Improvement of Decentralized Flocking Flight Efficiency of Fixed-Wing UAVs Using Inactive Agents

    Song, Yeongho / Choi, Joonwon / Oh, Hyondong et al. | AIAA | 2019


    Improvement of Decentralized Flocking Flight Efficiency of Fixed-Wing UAVs Using Inactive Agents

    Song, Yeongho / Choi, Joonwon / Oh, Hyondong et al. | TIBKAT | 2019


    Decentralized Triangular Guidance Algorithms for Formations of UAVs

    Salvatore Rosario Bassolillo / Luciano Blasi / Egidio D’Amato et al. | DOAJ | 2021

    Freier Zugriff

    Induction Radius-Based Hierarchical Flocking Algorithm for UAVs Clustering

    Qiao, Xuhui / Xu, Ziqiang / Luo, Yanhong et al. | IEEE | 2019


    FLOCKING TO ORBIT: SWARM ROBOTICS IN SPACE

    Macinnis, Dillon / Dallimore, Jack | TIBKAT | 2022