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http://dx.doi.org/10.5139/JKSAS.2021.49.12.981

Design of Decentralized Guidance Algorithm for Swarm Flight of Fixed-Wing Unmanned Aerial Vehicles  

Jeong, Junho (Agency for Defense Development)
Myung, Hyunsam (Agency for Defense Development)
Kim, Dowan (Agency for Defense Development)
Lim, Heungsik (Agency for Defense Development)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.49, no.12, 2021 , pp. 981-988 More about this Journal
Abstract
This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.
Keywords
Swarm; Swarm Flight; Decentralized Guidance; Flight Test;
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