Reference:
X. Wang,
S. Baldi,
X. Feng,
C. Wu,
H. Xie, and
B. De Schutter,
"A fixed-wing UAV formation algorithm based on vector field guidance,"
IEEE Transactions on Automation Science and Engineering, vol.
20, no. 1, pp. 179-192, Jan. 2023.
Abstract:
The vector field method was originally proposed to guide a single
fixed-wing Unmanned Aerial Vehicle (UAV) towards a desired path. In
this work, a non-uniform vector field method is proposed that changes
in both magnitude and direction, for the purpose of achieving
formations of UAVs. As compared to related work in the literature, the
proposed formation control law does not need to assume absence of
wind. That is, due to the effect of the wind on the UAV, one can
handle the UAV air speed being different from its ground speed, and
the UAV heading angle being different from its course angle. Stability
of the proposed formation method is analyzed via Lyapunov stability
theory, and validations are carried out in software-in-the-loop and
hardware-in-the-loop comparative experiments.
Bibtex entry:
@article{WanBal:22-003,