Optimal UAV formation guidance laws with timing constraint

Abstract

In this paper, optimal guidance laws for multiple vehicles formation flight are addressed. The proposed laws are obtained as state-feedback solutions of linear quadratic optimal control problems to minimize the time varying energy cost with terminal constraints on position and velocity. Since the proposed laws are able to control the flight time, they are possible to make all vehicles join the formation concurrently at a specified time. A method to compensate the acceleration or maneuver of the formation leader is included in the guidance laws. And an inter-vehicle collision avoidance scheme is also considered. The performance of the guidance laws is tested via various numerical simulations.

Engagement time constrained formation generation guidance following a non-manoeuvring leader

“…Ryoo et al. 26 propose a formation generation guidance law obtained as a feedback solution to a linear quadratic regulator problem which minimizes a manoeuver induced cost together with constraint on terminal position and velocity. While designing the guidance laws, Koo and Shahruz 25 and Ryoo et al.…”

Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults

“…Contrasting with a single robot system, since the robots in the formation are interconnected with others, higher level control techniques have been required. Nevertheless, the formation control has been expected to be employed in various applications such as manipulation of large objects [ 1 , 2 ], intelligent highway systems [ 3 , 4 ], surface vehicle formation [ 5 ], flight formation systems [ 6 , 7 ], formation of multiple spacecraft [ 8 ], and surveillance systems [ 9 , 10 , 11 , 12 ] because the multi-robot system can provide certain advantages including cost reduction, sensing performance improvement, and higher robustness against robot faults. In particular, the robotic-sensor networks [ 10 , 11 , 12 ] in the surveillance systems have been a focus of attention because they reduce the cost of the surveillance systems and increase the performance.…”

Leader - Follower based Formation Guidance Law and Autonomous Formation Flight Test of Multiple MAVs

“…내부 통신이 없 다고 가정하는 경우, 대부분 비행체가 Leader 와 의 상대거리나 각도 등의 상태 정보를 측정하기 위해 카메라, 레이더 또는 레이저 거리 측정기 등과 같은 센서를 이용하는 방법 [5][6] 이 사용된다. …”