Link! is a multi-center NASA e ort to study the feasibility of multi-aircraft aerial docking systems. In these systems, a group of vehicles physically link to each other during flight to form a larger ensemble vehicle with increased aerodynamic performance and mission utility. This paper presents a potential field guidance algorithm for a group of multi-rotor vehicles to link to each other during flight. The linking is done in pairs. Each vehicle first selects a mate. Then the potential field is constructed with three rules: move towards the mate, avoid collisions with non-mates, and stay close to the rest of the group. Once a pair links, they are then considered to be a single vehicle. After each pair is linked, the process repeats until there is only one vehicle left. The paper contains simulation results for a system of 16 vehicles.


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    Title :

    Link!: Potential Field Guidance Algorithm for In-Flight Linking of Multi-Rotor Aircraft


    Contributors:

    Publication date :

    2017


    Size :

    12 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English






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