UAV Formation Control Using Enhanced Behavior Mechanism And Artificial Potential Field
Abstract
Inspired by formation flight of pigeon flock, this paper proposes a enhanced method of autonomous formation control of multiple Unmanned Aerial Vehicles (UAVs) that can maintain high symmetry based on pigeon flock behavior mechanism. Addressing the instability of formation in the original method, the follow improvements have been made. Firstly, improve leadership of top three UAVs, Secondly, modify artificial potential field strategies for top two followers. Finally, through a series of simulation experiments, it is verified that the UAVs can form the expected formation under the autonomous formation control, and can maintain the formation under the complex motion of leader UAV.
References
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[3]L. He, J. Zhang, Y. Hou, X. Liang, and P. Bai, “Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays,” IEEE Access, vol. 7, pp. 65379-65389, 2019.
[4]X. Ding, P. Guo, K. Xu, and Y. Yu, “A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems,” Chinese Journal of Aeronautics, vol. 32, no. 1, pp. 200-214, 2019.
[5]Y. Ding, X. Wang, Y. Cong, and H. Li, “Scalability Analysis of Algebraic Graph-Based Multi-UAVs Formation Control,” IEEE Access, vol. 7, pp. 129719-129733, 2019.
[6]J. O. J.P. Desai, V. Kumar, “Controlling formations of multiple mobile robots,” in 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998.
[7]Y. Kartal, K. Subbarao, N. R. Gans, A. Dogan, and F. Lewis, “Distributed backstepping based control of multiple UAV formation flight subject to time delays,” Iet Control Theory and Applications, vol. 14, no. 12, pp. 1628-1638, Aug, 2020.
[8]T. S. No, Y. Kim, M.-J. Tahk, and G.-E. Jeon, “Cascade-type guidance law design for multiple-UAV formation keeping,” Aerospace Science and Technology, vol. 15, no. 6, pp. 431-439, Sep, 2011.
[9]W. Lin, “Distributed UAV formation control using differential game approach,” Aerospace Science and Technology, vol. 35, pp. 54-62, 2014.
[10]A. T. Hafez, M. Iskandarani, S. N. Givigi, S. Yousefi, and A. Beaulieu, “UAVs in Formation and Dynamic Encirclement via Model Predictive Control,” 2014.
[11]M. Nagy, G. Vasarhelyi, B. Pettit, I. Roberts-Mariani, T. Vicsek, and D. Biro, “Context-dependent hierarchies in pigeons,” Proc Natl Acad Sci U S A, vol. 110, no. 32, pp. 13049-54, Aug 6, 2013.
[12]M. Nagy, Z. Akos, D. Biro, and T. Vicsek, “Hierarchical group dynamics in pigeon flocks,” Nature, vol. 464, no. 7290, pp. 890-3, Apr 8, 2010.
[13]H. Duan, and P. Qiao, “Pigeon-inspired optimization: a new swarm intelligence optimizer for air robot path planning,” International Journal of Intelligent Computing and Cybernetics, vol. 7, no. 1, pp. 24-37, 2014.
[14]Q. Feng, X. Hai, B. Sun, Y. Ren, Z. Wang, D. Yang, Y. Hu, and R. Feng, “Resilience optimization for multi-UAV formation reconfiguration via enhanced pigeon-inspired optimization,” Chinese Journal of Aeronautics, vol. 35, no. 1, pp. 110-123, 2022.
[15]H. Qiu, H. Duan, and Y. Fan, “Multiple unmanned aerial vehicle autonomous formation based on the behavior mechanism in pigeon flocks,” Contro Theory & Applications vol. 32, no. 10, 2015.
[16]L. Wang, H. Shi, and T. Chu, “Flocking Control of Groups of Mobile Autonomous Agents Via Local Feedback,” Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005., pp. 441-446, 2005.
[17]Q. Hua-xin, D. Hai-bin, and F. Yan-ming, “Multiple unmanned aerial vehicle autonomous formation based on the behavior mechanism in pigeon flocks,” Control Theory & Applications, vol. 32, 2015.
[18]W. Ren, “On Constrained Nonlinear Tracking Control of a Small Fixed-wing UAV,” Journal of Intelligent and Robotic Systems, vol. 48, no. 4, pp. 525-537, 2007.
Authors
Deng, L., Yan, J., Zhao, M., Pan, J., & Bu, X. (2024). UAV Formation Control Using Enhanced Behavior Mechanism And Artificial Potential Field. International Journal of Advanced Science and Computer Applications, 4(2). https://doi.org/10.47679/ijasca.v4i2.62
This work is licensed under a Creative Commons Attribution 4.0 International License.