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Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

Park C, Cho N, Lee K, Kim Y - Sensors (Basel) (2015)

Bottom Line: Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs.Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed.The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical & Aerospace Engineering, Seoul National University, Daehak-dong, Gwanak-gu, Seoul 151-744, Korea. bakgk@snu.ac.kr.

ABSTRACT
To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system.

No MeSH data available.


(a) Developed ARM Cortex-M3-based FCC; (b) UAV system.
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sensors-15-17397-f002: (a) Developed ARM Cortex-M3-based FCC; (b) UAV system.

Mentions: This miniature encoder sensor outputs an absolute rotation angle based on a non-contact method with low friction; therefore, it is appropriate for measuring wind direction in a small-scale UAV. A pitot tube is connected to a MPX7002 differential pressure sensor to measure the relative wind speed. The measured dynamic pressure is converted to air speed by a conversion formula. All of the sensors are connected to the developed ARM Cortex-M3-based embedded flight control computer (FCC), which is shown in Figure 2a. The embedded FCC sends control commands to the control surfaces, and an onboard 900 MHz ZigBee modem communicates with the other UAVs.


Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

Park C, Cho N, Lee K, Kim Y - Sensors (Basel) (2015)

(a) Developed ARM Cortex-M3-based FCC; (b) UAV system.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541940&req=5

sensors-15-17397-f002: (a) Developed ARM Cortex-M3-based FCC; (b) UAV system.
Mentions: This miniature encoder sensor outputs an absolute rotation angle based on a non-contact method with low friction; therefore, it is appropriate for measuring wind direction in a small-scale UAV. A pitot tube is connected to a MPX7002 differential pressure sensor to measure the relative wind speed. The measured dynamic pressure is converted to air speed by a conversion formula. All of the sensors are connected to the developed ARM Cortex-M3-based embedded flight control computer (FCC), which is shown in Figure 2a. The embedded FCC sends control commands to the control surfaces, and an onboard 900 MHz ZigBee modem communicates with the other UAVs.

Bottom Line: Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs.Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed.The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical & Aerospace Engineering, Seoul National University, Daehak-dong, Gwanak-gu, Seoul 151-744, Korea. bakgk@snu.ac.kr.

ABSTRACT
To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system.

No MeSH data available.