Circular Formation Control for the Cooperative Ground Target Tracking of Unmanned Aerial Vehicle
Jiangbo Jia, Xin Chen, Min Zhang, Weizhen Wang, Zhen Li · 2021
This paper investigates a circular formation control strategy for the cooperative ground target tracking of unmanned aerial vehicle (UAV). We regard the cooperative and tracking as a complete interconnected system and propose a guidance law which has coupled linear and angular velocities. The communication network among vehicles is modeled by a directed cycle graph. The proposed guidance law guarantees that all UAVs move with a prespecified direction and velocity along a common circle with the given center and radius, and maintain evenly spaced along the circle. The effectiveness of the proposed guidance law is validated by simulation.