速度場に分岐理論を適用したUAVの3次元フォーメーションフライト Three-Dimensional Formation Flight for UAV Using Bifurcating Velocity Field

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抄録

This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.

収録刊行物

  • 日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences

    日本航空宇宙学会論文集 = Journal of the Japan Society for Aeronautical and Space Sciences 59(693), 259-265, 2011-10-05

    一般社団法人 日本航空宇宙学会

参考文献:  16件中 1-16件 を表示

被引用文献:  1件中 1-1件 を表示

各種コード

  • NII論文ID(NAID)
    10030274917
  • NII書誌ID(NCID)
    AA11307372
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13446460
  • NDL 記事登録ID
    11277278
  • 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
    Z74-B503
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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