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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.


Description of sequential cyclic communication.
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sensors-15-17397-f004: Description of sequential cyclic communication.

Mentions: To achieve robust onboard sensor information sharing between UAVs, a sequential cyclic communication method is used, as shown in Figure 4. The trigger UAV (UAV1) starts broadcasting its sensor information. Next, the neighboring UAV (UAV2) transmits its sensor information. This procedure continues until the last UAV (UAV3) performs a transmission. This procedure can prevent data loss from occurring due to simultaneous data transmission. The concept of sequential cyclic communication is realized at a low information sharing rate (<1 Hz). However, this approach requires accurate timing control to achieve a high information sharing rate (>10 Hz) because physical delays may exist during data transmission. Figure 5 describes a communication flow in the FCC. Three major physical delays can be found in the communication flow. The first delay is from microprocessor 1 (MCU1) to Zigbee1, . If UAV1 data consist of n bytes (8n bits) and the baud rate is P bps (bits per second), then the delay from MCU1 to Zigbee1 can be calculated as follows: (3)tMCU1toZigbee1=8np


Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

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

Description of sequential cyclic communication.
© Copyright Policy
Related In: Results  -  Collection

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

sensors-15-17397-f004: Description of sequential cyclic communication.
Mentions: To achieve robust onboard sensor information sharing between UAVs, a sequential cyclic communication method is used, as shown in Figure 4. The trigger UAV (UAV1) starts broadcasting its sensor information. Next, the neighboring UAV (UAV2) transmits its sensor information. This procedure continues until the last UAV (UAV3) performs a transmission. This procedure can prevent data loss from occurring due to simultaneous data transmission. The concept of sequential cyclic communication is realized at a low information sharing rate (<1 Hz). However, this approach requires accurate timing control to achieve a high information sharing rate (>10 Hz) because physical delays may exist during data transmission. Figure 5 describes a communication flow in the FCC. Three major physical delays can be found in the communication flow. The first delay is from microprocessor 1 (MCU1) to Zigbee1, . If UAV1 data consist of n bytes (8n bits) and the baud rate is P bps (bits per second), then the delay from MCU1 to Zigbee1 can be calculated as follows: (3)tMCU1toZigbee1=8np

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.