This paper introduces a method for controlling UAV swarm formations and avoiding collisions using the Virtual Spring-Damper (VSD) approach. This approach draws upon classical mechanical spring-damper systems, employing displacement and velocities to generate attractive and repulsive forces. These forces help sustain swarm formation and prevent collisions in a decentralized manner. Extensive simulations provided a systematic approach to obtain the parameters involved in the spring-damper system. Flight tests were carried out to verify the proposed method. The experimental outcomes align with our simulations, demonstrating effectiveness in collision avoidance while preserving a specified flight formation.


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    Title :

    A Virtual Spring-Damper Approach for UAV Swarm Formation and Decentralised Collision Avoidance


    Contributors:


    Publication date :

    2024-06-04


    Size :

    970314 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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