Synthesis of the Laws of Motion Control of a UAV Group With Natural Obstacles
Dmytro Kucherov, Minglei Fu, Andrei Kozub · Advances in mechatronics and mechanical engineering (AMME) book series · 2019
A solution is proposed for the task of controlling a group of UAVs moving along a given route. The group is considered as a limited-size formation consisting of n-agents moving relative to the leader, which allows us to treat the group as some aggregate with the center of motion. The quantitative composition of a group can change while maintaining the integrity of the group. The chapter proposes the use of smooth laws governing the motion of a group. The safety of motion is ensured by introducing into the law of control the components equivalent to the creation of attractive and repulsive fields.