Formation Control of Small Unmanned Aerial Vehicles Using Virtual Leader and Point-to-Multipoint Communication

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抄録

In this paper, a simple but robust formation control scheme that can be applied to small unmanned aerial vehicles is proposed. The proposed formation control scheme is based on the virtual leader approach, where formation members control their position in relationship to a common virtual leader. The most distinguishing feature of the proposed scheme is that only information on the virtual leader is communicated between formation members. This feature gives the control scheme a extremely high robustness to communication failures and unit losses. Numerical simulation shows that the formation can be properly formed even if only 5% of the total communication succeeds. It is also shown that wingmen's position can be estimated to some extent, using the information communicated.

収録刊行物

  • Transactions of the Japan Society for Aeronautical and Space Sciences

    Transactions of the Japan Society for Aeronautical and Space Sciences 54(184), 83-89, 2011-08-04

    THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES

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各種コード

  • NII論文ID(NAID)
    10030274410
  • NII書誌ID(NCID)
    AA0086707X
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    05493811
  • NDL 記事登録ID
    11195267
  • NDL 雑誌分類
    ZN25(科学技術--運輸工学--航空機・ロケット)
  • NDL 請求記号
    Z53-M236
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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