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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.


Nonlinear path-following guidance.
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sensors-15-17397-f009: Nonlinear path-following guidance.

Mentions: When a fixed-wing UAV monitors an area, a loitering flight is typically performed. If multiple UAVs are monitoring the area, the phase angles between UAVs should be controlled to ensure efficient area surveillance on the circular path. Nonlinear path-following guidance [20,21,22] was proposed to make UAVs fly on a circular path, assuming that all UAVs are moving on a two-dimensional surface, i.e., flying at the same altitude. The stability of nonlinear path-following guidance was proven using the Lyapunov stability theorem [20], and therefore, all UAVs asymptotically converge to the predefined path. The reference altitude is set sufficiently high to cover the ground slopes and hills. The lateral guidance geometry of the nonlinear path following is shown in Figure 9, where V is the airspeed, L is the constant guidance distance, and is the angle between V and L.


Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

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

Nonlinear path-following guidance.
© Copyright Policy
Related In: Results  -  Collection

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

sensors-15-17397-f009: Nonlinear path-following guidance.
Mentions: When a fixed-wing UAV monitors an area, a loitering flight is typically performed. If multiple UAVs are monitoring the area, the phase angles between UAVs should be controlled to ensure efficient area surveillance on the circular path. Nonlinear path-following guidance [20,21,22] was proposed to make UAVs fly on a circular path, assuming that all UAVs are moving on a two-dimensional surface, i.e., flying at the same altitude. The stability of nonlinear path-following guidance was proven using the Lyapunov stability theorem [20], and therefore, all UAVs asymptotically converge to the predefined path. The reference altitude is set sufficiently high to cover the ground slopes and hills. The lateral guidance geometry of the nonlinear path following is shown in Figure 9, where V is the airspeed, L is the constant guidance distance, and is the angle between V and L.

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.