Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Formation Guidance Law Design Based on Relative-Range Information for Swam Flight

군집비행을 위한 상대 거리정보 기반의 편대 유도기법 설계

  • 김성환 (인하대학교 항공우주공학과) ;
  • 조성범 (인하대학교 항공우주공학과) ;
  • 박상혁 (인하대학교 항공우주공학과) ;
  • 김도완 (인하대학교 항공우주공학과) ;
  • 유창경 (인하대학교 항공우주공학과)
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.02.01
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Abstract

In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

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References

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