速度場に分岐理論を適用したUAVの3次元フォーメーションフライト

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概要

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• This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.

著者

• 鈴木 真之

  日本大学大学院理工学研究科航空宇宙工学専攻

• 内山 賢治

  日本大学大学院理工学研究科航空宇宙工学専攻

• Derek J.

  Department of Mechanical Engineering, University of Strathclyde

• Colin R.

  Department of Mechanical Engineering, University of Strathclyde

関連論文

• 速度場に分岐理論を適用したUAVの3次元フォーメーションフライト
• 速度場に分岐理論を適用したUAVの3次元フォーメーションフライト

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