Formation Control of Small Unmanned Aerial Vehicles Using Virtual Leader and Point-to-Multipoint Communication
スポンサーリンク
概要
- 論文の詳細を見る
In this paper, a simple but robust formation control scheme that can be applied to small unmanned aerial vehicles is proposed. The proposed formation control scheme is based on the virtual leader approach, where formation members control their position in relationship to a common virtual leader. The most distinguishing feature of the proposed scheme is that only information on the virtual leader is communicated between formation members. This feature gives the control scheme a extremely high robustness to communication failures and unit losses. Numerical simulation shows that the formation can be properly formed even if only 5% of the total communication succeeds. It is also shown that wingmen's position can be estimated to some extent, using the information communicated.
- 社団法人 日本航空宇宙学会の論文
- 2011-08-04
著者
-
Tsuchiya Takeshi
Department Of Aeronautics And Astronautics The University Of Tokyo
-
Hino Takuma
Department Of Aeronautics And Astronautics The University Of Tokyo
-
Tsuchiya Takeshi
Department of Aeronautics and Astronautics, The University of Tokyo
関連論文
- Long-term efficacy of imatinib in a practical setting is correlated with imatinib trough concentration that is influenced by body size : a report by the Nagasaki CML Study Group
- High-pressure synthesis and characterization of a novel perovskite PbFe_V_O_3
- Targeting Id1 and Id3 inhibits peritoneal metastasis of gastric cancer
- Gene Expression in Adult T Cell Leukemia/Lymphoma : Up-Regulation of Matrix Metalloproteinase 2 in Skin Lesions
- Improved Hypertrophic Obstructive Cardiomyopathy by Left Ventricular Apex Epicardial Pacing
- Enteropathy-Type Intestinal T-Cell Lymphoma Showing Jejunoileal Fistula: Report of a Case
- IMMUNOHISTOCHEMICAL LOCALIZATION OF FIBRONECTIN IN AORTIC INTIMA OF RAT
- Manifestation of ST-Segment Elevation in Right Precordial Leads during Ischemia at a Right Ventricular Outflow Tract Area in a Patient with Brugada Syndrome
- IP Controller-Based Vector Control of Induction Motor Taking Core Loss into Account
- Energy Model Based Loss-Minimized Speed Control of Induction Motor with a Full-order Observer
- Speed Control of Induction Motor by Using Fuzzy Logic Based On-Line Gain Tuning PI Controller
- Minimal Order Bilinear Observer for High Performance Control of Induction Motor Taking Core Loss into Account
- Real-Time Flight Trajectory Generation Applicable to Emergency Landing Approach
- Suspended Spray Reaction for Preparation of Ru/Al_2O_3 Catalyst
- Multi Orifice Pitot Tube as Air Data Sensor for Small Unmanned Aerial Vehicles
- Trajectory Optimization and Conceptual Study of Small Test Vehicles for a Hypersonic Engine Using a High-Altitude Balloon
- Near-Optimal Guidance Method for Maximizing the Reachable Domain of Gliding Aircraft
- Optimal Flight for Ground Noise Reduction in Helicopter Landing Approach : Optimal Altitude and Velocity Control
- High-Performance Navigation System with Integration of Low-Precision MEMS INS and General-Purpose GPS
- Formation Control of Small Unmanned Aerial Vehicles Using Virtual Leader and Point-to-Multipoint Communication
- SEROLOGICAL CLASSIFICATION OF THE GENUS HANSENULA (IV)
- SEROLOGICAL RELATIONSHIPS AMONG ASCOSPOROGENOUS AND ASPOROGENOUS YEASTS:I. SACCHAROMYCES CEREVISIAE AND CANDIDA ROBUSTA