In this paper, we investigate the formation control of multiple unmanned aerial vehicles (UAVs) in an obstacle-laden environment for target tracking. The main contribution of this paper is to develop a potential field based leader-follower formation control method for target tracking and obstacle/collision avoidance. In the potential field, a quantity of virtual positive charge carried by each of UAVs varies depending upon their roles as a leader or follower when obstacles and targets are regarded as ions with larger positive and negative charges, respectively. Therefore, the formation formed by the UAVs connected with their inter-bonds could be adapted while the UAVs get around the obstacles and are attracted to the targets. The potential field based leader-follower formation control method is developed to reshape a UAV team configuration to track a target while the UAV team avoids the obstacles. The adaptivity and efficiency of the closed-loop UAV system was validated by simulating a flying formation of the multiple UAVs to track the target while the formation was adapted to avoid the obstacles.


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    Title :

    Adaptive Multi-Agent Unmanned Aerial Vehicle Systems with a Potential Field based Leader-Follower Formation Control Method


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2015 AeroTech Congress & Exhibition ; 2015



    Publication date :

    2015-09-15




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English






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