资源描述：
《2008J_Modelling of UAV formation flight using 3D potential field》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、SimulationModellingPracticeandTheory16(2008)1453–1462ContentslistsavailableatScienceDirectSimulationModellingPracticeandTheoryjournalhomepage:www.elsevier.com/locate/simpatModellingofUAVformationflightusing3Dpotentialfieldabb,*TobiasPaul,ThomasR.Krogstad,JanTommyGravdahlaESGEle
2、ktroniksystem-undLogistikGmbH,Fürstenfeldbruck,GermanybDepartmentofEngineeringCybernetics,NorwegianUniversityofScienceandTechnology,O.S.Bragstadsplass2D,N-7033Trondheim,NorwayarticleinfoabstractArticlehistory:Inthispaper,wepresentasolutionforformationflightandformationreconfigu
3、rationofReceived19May2008unmannedaerialvehicles(UAVs).Basedonavirtualleaderapproach,combinedwithanReceivedinrevisedform31July2008extendedlocalpotentialfield,themethodisuniversalapplicablebydrivingthevehicle’sAccepted5August2008autopilot.Thesolutionisverified,usingagroupofUAVsba
4、sedonasimplifiedsmallscaleAvailableonline20August2008TMTMhelicopter,whichissimulatedinMATLAB/Simulink.Asnecessaryforhelicopters,thepotentialfieldapproachisrealizedin3Dincludingobstacleandcollisionavoidance.Thecollisionavoidancestrategycouldbeusedseparatelyforthesenseandavoidpro
5、blem.Keywords:Ó2008ElsevierB.V.Allrightsreserved.UnmannedsystemsAerospacecontrolModellingCollisionavoidanceFormationflight1.IntroductionThecontributionofthispaperisthepresentationofavirtualleaderformationapproachcombinedwithanextendedver-sionofthepotentialfieldsolutionpresented
6、in[1,2].TheapproachisappliedtoaformationofhelicopterUAVspresentedin[3],providingobstacleandcollisionavoidance.Thehelicoptersareofthetraditionalmainrotor–tailrotortype.Thealgo-rithmsupportsflightwithmaximumvehiclespeedandcouldbeadoptedeasilytovehicleswithdifferentdynamics.Tothe
7、authorsknowledge,apotentialfieldapproachhasnotpreviouslybeenappliedonhelicopterUAVs.However,atwodimen-sionalapproachformarinevehiclesispresentedin[1]while[2]presentsasolutionfortricycles.ModellingandcontrolofformationsofUAVsisalargeandeverincreasingfieldofresearch.Otherformatio
8、nflightap-proaches,focusingonfixedwingaircrafts,canbefoundin[4,5]or[7]
