This paper addresses the problem of formation generation of two UAVs with constraints on engagement time. A leader–follower scenario with the leader being non-manoeuvring is considered. The work uses track guidance method for generating a class of follower spatial paths and combines it with a speed profile that works to minimize the error with respect to the desired follower position. Path curvature analysis is carried out and set of feasible spatial paths which abide by the UAV turn rate constraint is obtained. The equilibrium point of the resulting nonlinear system is found to be the desired formation geometry and stability analysis using Lyapunov direct method guarantees convergence to the equilibrium point. The set of achievable engagement times is deduced with closed-form limits. Extensive simulation exercises are carried out incorporating follower speed limits, wind and vehicle dynamics, and presence of obstacles. The work highlights a flexible guidance method which effectively uses one design parameter and analytic conditions for formation generation.


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    Titel :

    Engagement time constrained formation generation guidance following a non-manoeuvring leader


    Beteiligte:
    Suresh, Shalini (Autor:in) / Ratnoo, Ashwini (Autor:in)


    Erscheinungsdatum :

    2020-06-01


    Format / Umfang :

    19 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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