Formation control for multiple unmanned aerial vehicles in constrained space using modified artificial potential field
Hang Yin, Léa Cam, Utpal Roy · Mathematical Modelling and Engineering Problems · 2017
This paper addresses a formation tracking control issue for multiple Unmanned Aerial Vehicles (UAV) flying through a constrained space.Based on the Formation Potential Field (FPF), a Modified Artificial Potential Field (MAPF) technique is proposed, which guarantees to generate and maintain a given formation while avoiding collisions.The technique has two phases.UAVs are gathered around the formation center first during Phase 1, and the formation is then achieved in Phase 2. Furthermore, an obstacle repulsive potential field is introduced into this approach to deal with collision avoidance under environmental constraints.By doing so, discontinuities of the original Formation Potential Field can be avoided, and the stability of formation generation could be enhanced.Simulation results are presented to illustrate the validity of proposed approach.