Multi-UAV cooperative target encirclement within an annular virtual tube

Yan Gao; Chenggang Bai; Lei Zhang; Quan Quan

doi:10.1016/j.ast.2022.107800

Multi-UAV cooperative target encirclement within an annular virtual tube

Yan Gao
, Chenggang Bai
, Lei Zhang
, Quan Quan^*

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
Hebei University of Technology

Research output: Contribution to journal › Article › peer-review

54 Scopus citations

Abstract

Continuously encircling and monitoring an individual static target is an important application scenario for a multi-UAV system. In this paper, to address the problem of multi-UAV encircling the target arbitrarily, evenly and densely in 3D space, a distributed vector field control method with an annular virtual tube is proposed. Some Lyapunov-like functions are designed elaborately, and a formal analysis based on the invariant set theorem is made to show that all UAVs can complete the encirclement task successfully. Simulations and experiments are carried out to show the effectiveness of the proposed method.

Original language	English
Article number	107800
Journal	Aerospace Science and Technology
Volume	128
DOIs	https://doi.org/10.1016/j.ast.2022.107800
State	Published - Sep 2022

Keywords

Distributed control
Multi-UAV
Target encirclement
Virtual tube

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10.1016/j.ast.2022.107800

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title = "Multi-UAV cooperative target encirclement within an annular virtual tube",

abstract = "Continuously encircling and monitoring an individual static target is an important application scenario for a multi-UAV system. In this paper, to address the problem of multi-UAV encircling the target arbitrarily, evenly and densely in 3D space, a distributed vector field control method with an annular virtual tube is proposed. Some Lyapunov-like functions are designed elaborately, and a formal analysis based on the invariant set theorem is made to show that all UAVs can complete the encirclement task successfully. Simulations and experiments are carried out to show the effectiveness of the proposed method.",

keywords = "Distributed control, Multi-UAV, Target encirclement, Virtual tube",

author = "Yan Gao and Chenggang Bai and Lei Zhang and Quan Quan",

note = "Publisher Copyright: {\textcopyright} 2022 Elsevier Masson SAS",

year = "2022",

month = sep,

doi = "10.1016/j.ast.2022.107800",

language = "英语",

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T1 - Multi-UAV cooperative target encirclement within an annular virtual tube

AU - Gao, Yan

AU - Bai, Chenggang

AU - Zhang, Lei

AU - Quan, Quan

PY - 2022/9

Y1 - 2022/9

N2 - Continuously encircling and monitoring an individual static target is an important application scenario for a multi-UAV system. In this paper, to address the problem of multi-UAV encircling the target arbitrarily, evenly and densely in 3D space, a distributed vector field control method with an annular virtual tube is proposed. Some Lyapunov-like functions are designed elaborately, and a formal analysis based on the invariant set theorem is made to show that all UAVs can complete the encirclement task successfully. Simulations and experiments are carried out to show the effectiveness of the proposed method.

AB - Continuously encircling and monitoring an individual static target is an important application scenario for a multi-UAV system. In this paper, to address the problem of multi-UAV encircling the target arbitrarily, evenly and densely in 3D space, a distributed vector field control method with an annular virtual tube is proposed. Some Lyapunov-like functions are designed elaborately, and a formal analysis based on the invariant set theorem is made to show that all UAVs can complete the encirclement task successfully. Simulations and experiments are carried out to show the effectiveness of the proposed method.

KW - Distributed control

KW - Multi-UAV

KW - Target encirclement

KW - Virtual tube

UR - https://www.scopus.com/pages/publications/85135908176

U2 - 10.1016/j.ast.2022.107800

DO - 10.1016/j.ast.2022.107800

M3 - 文章

AN - SCOPUS:85135908176

SN - 1270-9638

VL - 128

JO - Aerospace Science and Technology

JF - Aerospace Science and Technology

M1 - 107800

ER -

Multi-UAV cooperative target encirclement within an annular virtual tube

Abstract

Keywords

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