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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer International Publishing
2016
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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. |
format | Online Article Text |
id | pubmed-4951395 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2016 |
publisher | Springer International Publishing |
record_format | MEDLINE/PubMed |
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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