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UAV formation control design with obstacle avoidance in dynamic three-dimensional environment

This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the ta...

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Detalles Bibliográficos
Autores principales: Chang, Kai, Xia, Yuanqing, Huang, Kaoli
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer International Publishing 2016
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4951395/
https://www.ncbi.nlm.nih.gov/pubmed/27478741
http://dx.doi.org/10.1186/s40064-016-2476-y
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author Chang, Kai
Xia, Yuanqing
Huang, Kaoli
author_facet Chang, Kai
Xia, Yuanqing
Huang, Kaoli
author_sort Chang, Kai
collection PubMed
description This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method.
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spelling pubmed-49513952016-07-29 UAV formation control design with obstacle avoidance in dynamic three-dimensional environment Chang, Kai Xia, Yuanqing Huang, Kaoli Springerplus Research This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method. Springer International Publishing 2016-07-19 /pmc/articles/PMC4951395/ /pubmed/27478741 http://dx.doi.org/10.1186/s40064-016-2476-y Text en © The Author(s) 2016 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
spellingShingle Research
Chang, Kai
Xia, Yuanqing
Huang, Kaoli
UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title_full UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title_fullStr UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title_full_unstemmed UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title_short UAV formation control design with obstacle avoidance in dynamic three-dimensional environment
title_sort uav formation control design with obstacle avoidance in dynamic three-dimensional environment
topic Research
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4951395/
https://www.ncbi.nlm.nih.gov/pubmed/27478741
http://dx.doi.org/10.1186/s40064-016-2476-y
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AT huangkaoli uavformationcontroldesignwithobstacleavoidanceindynamicthreedimensionalenvironment