Cordeiro, Thiago (University of Brasilia), Ferreira, Henrique Cezar (University of Brasilia), Ishihara, João Yoshiyuki (University of Brasília)

Non Linear Controller and Path Planner Algorithm for an Autonomous Variable Shape Formation Flight

Scheduled for presentation during the "Bio Inspired UASs, Autonomy, and Training" (FrB1), Friday, June 16, 2017, 14:45−15:05, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

A formation flight controller can be used in a UAS fleet to avoid collision, reduce fuel consumption, or to execute interactions between the UASs, such as autonomous aerial refueling. In this paper, an autonomous formation flight (AFF) controller based on non linear dynamic inversion (NLDI) and a non-colliding path planner are proposed. The proposed NLDI AFF extends a NLDI controller found in literature to account a maneuvering leader and time-varying shape formations. The proposed path planner generates a time-varying shape formation in which a set of followers flies from their initial relative position to their desired final one, via non-colliding paths. Simulation results show that the proposed controller tracks the trajectories generated by the path planner and achieves lower formation errors than the NLDI AFF controller found in literature.