Structured Flocking for Fixed Wing Multiple Agents
Vignesh Anand, Rohan Waghmare · IFAC-PapersOnLine · 2022
With developments in miniature UAVs, the problem of flocking has gained significant interest in both academia and industry, with applications in ISR, EW, and communication missions. This paper presents a flocking control scheme for a fleet of fixed-wing UAVs with constrained non-holonomic kinematics. The scheme is based on the flocking algorithms of Olfati-Saber and modified dynamic feedback linearization and demonstrates significant improvements in maneuverability and reliability, which are key for mission performance. The improvements in efficacy and reliability of the scheme are proved through simulations and a Monte Carlo study. With the proposed scheme, a flock of fixed-wing UAVs can reliably form and traverse any time-parameterized trajectory.