Adaptive distributed formation maintenance for multiple UAVs: Exploiting proximity behavior observations
| العنوان: | Adaptive distributed formation maintenance for multiple UAVs: Exploiting proximity behavior observations |
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| المؤلفون: | Zhi-hong Deng, Wei-heng Liu, Xin Zheng |
| المصدر: | Journal of Central South University. 28:784-795 |
| بيانات النشر: | Springer Science and Business Media LLC, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | Flexibility (engineering), 0209 industrial biotechnology, Strongly connected component, Dependency (UML), Computer science, Metals and Alloys, General Engineering, 02 engineering and technology, 01 natural sciences, Azimuth, 020901 industrial engineering & automation, Position (vector), Robustness (computer science), Control theory, 0103 physical sciences, State (computer science), 010301 acoustics, Control methods |
| الوصف: | The formation maintenance of multiple unmanned aerial vehicles (UAVs) based on proximity behavior is explored in this study. Individual decision-making is conducted according to the expected UAV formation structure and the position, velocity, and attitude information of other UAVs in the azimuth area. This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method. An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations, which remedies the poor flexibility in distributed formation. This technique ensures consistent position and attitude among UAVs. In the proposed method, the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs. The dependency degree factor is introduced to state update equation based on proximity behavior. Finally, the formation position, speed, and attitude errors are used to form an adaptive dynamic adjustment strategy. Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results, thus validating the effectiveness of the proposed method. |
| تدمد: | 2227-5223 2095-2899 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::618f15eae21a72c89d8fc06550a87fd8 https://doi.org/10.1007/s11771-021-4645-6 |
| حقوق: | CLOSED |
| رقم الأكسشن: | edsair.doi...........618f15eae21a72c89d8fc06550a87fd8 |
| قاعدة البيانات: | OpenAIRE |
Find this article in full text from Springer Verlag. | تدمد: | 22275223 20952899 |
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