TY - GEN
T1 - UAV Formation Flight and Collision Warning with Centralized Control of Ground Control Station
AU - Zheng, Wenxuan
AU - Wang, Honglun
AU - Ji, Hongxia
AU - Wu, Jianfa
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Unmanned Aerial Vehicles (UAVs) are widely applied in many fields, and the application of UAV formation flights is also developing rapidly. But currently many widely used types of UAVs are difficult to work with distributed formation control theory. Therefore, this paper presents a centralized formation algorithm with a three-degree-of-freedom UAV model, and also builds up two collision detection models. After tested and verified in MATLAB/Simulink, the models and control law are exported to C++ code and embedded in Qt-based simulation platform and Ground Control System (GCS) and pass the test under the condition of manually cutting off the communication. The simulation platform provides UAV state data, and the GCS serves as Human-Machine-Interface (HMI) to show the state data and perform control law to make formation flight. With centralized control of the GCS, any UAVs can do formation flight without modification.
AB - Unmanned Aerial Vehicles (UAVs) are widely applied in many fields, and the application of UAV formation flights is also developing rapidly. But currently many widely used types of UAVs are difficult to work with distributed formation control theory. Therefore, this paper presents a centralized formation algorithm with a three-degree-of-freedom UAV model, and also builds up two collision detection models. After tested and verified in MATLAB/Simulink, the models and control law are exported to C++ code and embedded in Qt-based simulation platform and Ground Control System (GCS) and pass the test under the condition of manually cutting off the communication. The simulation platform provides UAV state data, and the GCS serves as Human-Machine-Interface (HMI) to show the state data and perform control law to make formation flight. With centralized control of the GCS, any UAVs can do formation flight without modification.
KW - Collision detection
KW - Consensus
KW - Formation flight
KW - Ground control station
UR - https://www.scopus.com/pages/publications/85080863693
U2 - 10.1109/ICUS48101.2019.8995983
DO - 10.1109/ICUS48101.2019.8995983
M3 - 会议稿件
AN - SCOPUS:85080863693
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 103
EP - 108
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -