Formation control of UAVs based on artificial potential field

Abstract

The problem of UAVs’ formation control in the process of motion is investigated in this paper. A formation control method based on artificial potential field of UAVs is proposed, established on the collision avoidance, aggregation and speed matching rules of UAVs. First establish the UAVs’ kinetic model in accordance to the motion rules, then design the formation control algorithm based on artificial potential field function, which is used to control the formation during the movement of UAVs. Finally, the results of simulation experiment show that the proposed formation control method in this paper is effective and has the advantages of easy realization, good real-time performance and excellent robustness.

Controle De Formação E Rastreamento De Trajetória De Veículos Aéreos Não Tripulados Utilizando Adrc Modificado E Função Potencial

“…Na literatura, diversas estratégias abordam o controle de formação de VANTs, dentre as quais pode-se citar as baseadas em estruturas virtuais (Viana et al, 2015), consenso (Zhang et al, 2019), líder virtual e função potencial (Silva, 2012;Lv et al, 2018). Essas estratégias podem ser imple-mentadas de forma centralizada, quando há uma "autoridade"central controlando toda a formação, ou descentralizada, quando cada agente calcula o seu controle com base somente nas posições dos seus vizinhos.…”