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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.


Position histories of integrated formation flight.
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sensors-15-17397-f016: Position histories of integrated formation flight.

Mentions: The position histories of the integrated formation flight are shown in Figure 16. The mode variable indicates a flight mode controlled by an RC controller, where Mode 0 is the manual flight mode, Mode 1 is the stabilized co-pilot flight mode, and Mode 2 is the automatic mission flight mode. Depending on the status of the UAVs, the stage of each UAV may be different. The circular formation flight starts at 230 s, and the triangular formation flight starts at 591 s. The lateral and longitudinal control histories are shown in Figure 17. As shown in Figure 17, the inner-loop controllers are found to perform well at following the guidance commands. A detailed triangular formation flight result is shown in Figure 18. As shown in Figure 18, UAV1 follows the rounded rectangular path, and the follower UAVs generate their own formation path based on the estimated path of UAV1. Due to the east wind effect, the formation paths of UAV2 and UAV3 are slightly shifted to the west; nevertheless, the triangular shape is maintained well during the formation flight.


Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

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

Position histories of integrated formation flight.
© Copyright Policy
Related In: Results  -  Collection

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

sensors-15-17397-f016: Position histories of integrated formation flight.
Mentions: The position histories of the integrated formation flight are shown in Figure 16. The mode variable indicates a flight mode controlled by an RC controller, where Mode 0 is the manual flight mode, Mode 1 is the stabilized co-pilot flight mode, and Mode 2 is the automatic mission flight mode. Depending on the status of the UAVs, the stage of each UAV may be different. The circular formation flight starts at 230 s, and the triangular formation flight starts at 591 s. The lateral and longitudinal control histories are shown in Figure 17. As shown in Figure 17, the inner-loop controllers are found to perform well at following the guidance commands. A detailed triangular formation flight result is shown in Figure 18. As shown in Figure 18, UAV1 follows the rounded rectangular path, and the follower UAVs generate their own formation path based on the estimated path of UAV1. Due to the east wind effect, the formation paths of UAV2 and UAV3 are slightly shifted to the west; nevertheless, the triangular shape is maintained well during the formation flight.

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.