Multiple Aerial Vehicle Formation Using Swarm Intelligence
Chang-Su Park, Min-Jea Tahk, Hyochoong Bang · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2003
Swarm intelligence for autonomous coordination of multiple UAVs is presented. UAVs are ∞ocked through simple steering behaviors. Collision avoidance, velocity matching, ∞ock centering isappliedandmodifledtobeusedforgeneralaircraft. Flock joining is proposed for a more stable ∞ight of UAVs. Flock joining behavior matches the formation bubble distance to the two closest neighbors. To orient the swarm into a speciflc direction, a seek maneuver is also applied. The behaviors are studied through simple point mass model simulation.