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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.


Simulation configuration in MATLAB/Simulink.
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sensors-15-17397-f013: Simulation configuration in MATLAB/Simulink.

Mentions: The proposed integrated formation flight scenario is composed of switching logics and multiple formation flights. The algorithms are thoroughly examined using a 6-DOF numerical simulation in the MATLAB/Simulink environment. The onboard sensor information sharing method and communication delay are considered in the simulation to emulate a real multi-UAV environment. The simulation blocks of the MATLAB/Simulink are shown in Figure 13. The identical integrated formation flight guidance block is used in all UAVs with the assigned UAV number. The sensor information sharing block emulates data transfer among the UAVs. Different execution rates of the guidance loop and communication loop are also implemented in the simulation block.


Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

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

Simulation configuration in MATLAB/Simulink.
© Copyright Policy
Related In: Results  -  Collection

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

sensors-15-17397-f013: Simulation configuration in MATLAB/Simulink.
Mentions: The proposed integrated formation flight scenario is composed of switching logics and multiple formation flights. The algorithms are thoroughly examined using a 6-DOF numerical simulation in the MATLAB/Simulink environment. The onboard sensor information sharing method and communication delay are considered in the simulation to emulate a real multi-UAV environment. The simulation blocks of the MATLAB/Simulink are shown in Figure 13. The identical integrated formation flight guidance block is used in all UAVs with the assigned UAV number. The sensor information sharing block emulates data transfer among the UAVs. Different execution rates of the guidance loop and communication loop are also implemented in the simulation block.

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.