TY - GEN
T1 - Time-varying group formation tracking for UAV swarm systems with collision avoidance
AU - Yu, Jintong
AU - Hua, Yongzhao
AU - Yu, Jianglong
AU - Dong, Xiwang
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aiming at the tracking and control problem of UAV swarm formation, it has important application value in civil fields such as environmental monitoring, disaster rescue, regional logistics Based on the consensus control theory, this paper proposes an unmanned aerial vehicle (UAV) group formation tracking control method with a collision avoidance mechanism. The designed control approach is verified on the Matlab simulation platform respectively. A physical verification is built by using motion capture as external positioning system, and the physical flight of the Tello UAV swam system is carried out. The results verify the effectiveness of the designed UAV group formation tracking control method with a collision avoidance mechanism.
AB - Aiming at the tracking and control problem of UAV swarm formation, it has important application value in civil fields such as environmental monitoring, disaster rescue, regional logistics Based on the consensus control theory, this paper proposes an unmanned aerial vehicle (UAV) group formation tracking control method with a collision avoidance mechanism. The designed control approach is verified on the Matlab simulation platform respectively. A physical verification is built by using motion capture as external positioning system, and the physical flight of the Tello UAV swam system is carried out. The results verify the effectiveness of the designed UAV group formation tracking control method with a collision avoidance mechanism.
KW - UAV experiment platform
KW - UAV formation tracking
KW - artificial potential field collision avoidance
KW - consensus method
UR - https://www.scopus.com/pages/publications/85185576526
U2 - 10.1109/YAC59482.2023.10401607
DO - 10.1109/YAC59482.2023.10401607
M3 - 会议稿件
AN - SCOPUS:85185576526
T3 - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
SP - 630
EP - 635
BT - Proceedings - 2023 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023
Y2 - 27 August 2023 through 29 August 2023
ER -