Fu, Xiaowei (Northwestern Polytechnical University), WANG, Haixiang (Northwestern Polytechnical University), Pan, Jing (Northwestern Polytechnical University), Gao, Xiaoguang (Northwestern Polytechnical University, China)

A Distributed Formation Control Method of Swarm UAVs Based on Artificial Potential Field and Consensus Strategy

Scheduled for presentation during the Regular Session "Systems, Control, and Estimation" (FB1), Friday, November 29, 2019, 13:15−15:30, WZ Building Room WZ416

2019 Australian & New Zealand Control Conference (ANZCC), November 27-29, 2019, Auckland, New Zealand

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.