Vector Fields for UAV Guidance Using Potential Function Method for Formation Flight
Kento Nakai, Kenji Uchiyama · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
A vector field, which is generated by using the potential function method, yields globally stable tracking of geometrical patterns such as line and circle. For instance, a guidance of UAVs to an observation circle around a target is determined by building a vector field that has a stable limit cycle centered on the target position. This paper presents a design of guidance law for a formation flight of multiple fixed-wing unmanned aerial vehicles (UAVs) through use of a potential function that basically consists of steering and repulsive functions. The guidance law is obtained by considering a vector field as velocity field. Optimal control theory is applied to design of a flight control system for small UAVs. Theoretical results are illustrated using numerical simulation to verify the validity of the proposed flight control system. Developed UAVs are used to demonstrate the ability to perform line and circular formation flight using the control system.