Multi-UAV flight using virtual structure combined with behavioral approach

• Autorzy: Kownacki C.

Identyfikatory

DOI

10.1515/ama-2016-0015

• Języki publikacji: EN

Abstrakty

EN

Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.

Słowa kluczowe

EN

UAV; multi; virtual structure; formation; flocking behaviors

PL

bezzałogowy statek powietrzny; sterowanie pojazdami; symulacja numeryczna; pojazd bezzałogowy

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2016
• Tom: Vol. 10, no. 2
• Strony: 92--99
• Opis fizyczny: Bibliogr. 15 poz., rys., wykr.

Twórcy

autor

Kownacki C.

• Faculty of Mechanical Engineering, Bialystok University of Technology, Wiejska 45C, 15-351 Bialystok, Poland

Bibliografia

• 1. Ambroziak L., Gosiewski Z. (2014), Two stage switching control for autonomous formation flight of Unmanned Aerial Vehicles, Aerospace Science and Technology, 46, 221-226.
• 2. Askari A., Mortazavi M., Talebi H.A. (2015), UAV Formation Control via Virtual Structure Approach, Journal of Aerospace Engineering, 28(1).
• 3. Cai D., Sun J., Wu S. (2012), UAVs Formation Flight Control Based on Behavior and Virtual Structure, AsiaSim 2012, Communications in Computer and Information Science, 325, 429-438.
• 4. Kownacki C., Ołdziej D. (2015), Flocking Algorithm for Fixed-Wing Unmanned Aerial Vehicles, Third CEAS Specialist Conference on Guidance, Navigation and Control, Advances in Aerospace Guidance, Navigation and Control, 415-431.
• 5. Low Ch. B., Ng Q.S. (2011), A flexible virtual structure formation keeping control for fixed-wing UAVs, 9th IEEE International Conference on Control and Automation, 621-626.
• 6. Norman H. M. Li, Hugh H.T. Liu (2008), Formation UAV Flight Control using Virtual Structure and Motion Synchronization, American Control Conference, 1782-1787.
• 7. Quintero S.A.P., Collins G.E., Hespanha J.P. (2013), Flocking with Fixed-Wing UAVs for Distributed Sensing: A Stochastic Optimal Control Approach, American Control Conference, 2025-2031.
• 8. Ren W., Beard R. W. (2004), Decentralized scheme for spacecraft formation flying via the virtual structure approach, Journal of Guidance, Control and Dynamics, 27(1), 73–82.
• 9. Reynolds, C.W. (1987), Flocks, herds and schools: a distributed behavioral model, ACM SIGGRAPH Computer Graphics, Proceedings of ACM SIGGRAPH ’87, 25-34.
• 10. Seo J., Ahn Ch., Kim Y. (2009), Controller Design for UAV Formation Flight Using Consensus based Decentralized Approach, AIAA Infotech@Aerospace Conference Unmanned Unlimited Conference, 248-259.
• 11. Shan J., Liu H.T. (2005), Close-formation flight control with motion synchronization, Journal of Guidance, Control and Dynamics, 28(6), 1316–1320.
• 12. Shao Z., Zhu X., Zhou Z., Wang Y. (2014), A Nonlinear Control of 2-D UAVs Formation Keeping via Virtual Structures, Intelligent Robotics and Applications, Lecture Notes in Computer Science, 8917, 420-431.
• 13. Virágh Cs., Vásárhelyi G., Tarcai N., Szörényi T., Somorjai G., Nepusz T., Vicsek T. (2014), Flocking algorithm for autonomous flying robots, Bioinspiration & Biomimetics, 9(2).
• 14. Xingping Ch., Serrani A., Ozbay H. (2003), Control of leaderfollower formations of terrestrial UAVs, Proceedings of 42nd IEEE Conference on Decision and Control, 498-503,
• 15. Yun B., Chen B.M., Lum K.Y., Lee T.H. (2008), A leader-follower formation flight control scheme for UAV helicopters, IEEE International Conference on Automation and Logistics, 1-3, 39-44.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.