This paperMu, Shaoyang studies the leader-follower formationZhou, Pingfang control problem of unmanned air vehicles(UAVs) flying with dynamic constraints in an obstacle-laden environment. Firstly, formation protocols are presented for UAV swarm systems. Necessary and sufficient conditions for UAV swarm systems to achieve formations are presented based on graph theory. A formation tracking protocol is designed to drive the followers to track the leader. Then, an improved obstacle avoidance method based on potential field method is designed by combining with local rules considering dynamic constraints. The improved method can avoid potential field falling into local minimum and have good global searching ability. The stability of the presented approach is proved by using Lyapunov stability theory. Finally, numerical simulations are presented to demonstrate the effectiveness of the designed approach.


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    Title :

    Formation Control and Obstacle/Collision Avoidance with Dynamic Constraints


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

    International Conference on Aerospace System Science and Engineering ; 2019 ; Toronto, ON, Canada July 30, 2019 - August 01, 2019



    Publication date :

    2020-03-01


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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