Leaderless Formation Control for Multiple Autonomous Vehicles
Wei Ren, YangQuan Chen · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2006
This paper develops a leaderless formation control strategy based on emergent consensus algorithms. The proposed strategy only requires local neighbor-to-neighbor information exchange between vehicles and does not assume the existence of any explicit leaders in the team. The proposed strategy is then applied to a micro air vehicle (MAV) formation flying scenario as a proof of concept. Nomenclature x, y inertial position, m ψ heading angle, rad v forward speed, m/s r heading rate, rad/s vh vertical speed, m/s h altitude, m α ∗ autopilot parameters Subscript i the ith vehicle Superscript c command I.