Abstract
The cooperation of unmanned aerial vehicles (UAVs) can improve operational efficiency and survival probability in rescue and penetration missions. We present a new method of dynamic formation flight control of UAVs. It contains three control steps: (i) Formation Keep; (ii) Obstacle Avoidance; (iii) Formation Flight Control Based on Behavior. The method of formation flight control based on behavior is designed to solve the problem of high requirements on communication quality of traditional formation flight control based on virtual structure. The method based on behavior can reduce the requirements on wireless data update rate and enhance the ability of obstacle avoidance of UAVs. In the meanwhile, we introduce virtual structure as reference to improve the stiffness of formation flight control based on behavior. On condition that the formation is relatively stable, the new method can enhance the ability of obstacle and threat avoidance in unknown environments of UAVs and can be used for reference for the UAVs in cooperative low-altitude penetration.
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Cai, D., Sun, J., Wu, S. (2012). UAVs Formation Flight Control Based on Behavior and Virtual Structure. In: Xiao, T., Zhang, L., Fei, M. (eds) AsiaSim 2012. AsiaSim 2012. Communications in Computer and Information Science, vol 325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34387-2_49
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DOI: https://doi.org/10.1007/978-3-642-34387-2_49
Publisher Name: Springer, Berlin, Heidelberg
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