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http://dx.doi.org/10.12673/jant.2021.25.3.211

Flexible Formation Algorithm for Multiple UAV Using the Packing  

Kim, Hyo-Jung (Department of Aerospace Engineering, Inha University)
Kim, Jeong-Hun (Department of Aerospace Engineering, Inha University)
Kim, Moon-Jung (Department of Aerospace Engineering, Inha University)
Ryoo, Chang-Kyung (Department of Aerospace Engineering, Inha University)
Publication Information
Journal of Advanced Navigation Technology / v.25, no.3, 2021 , pp. 211-216 More about this Journal
Abstract
Multiple UAV System has been used for various purposes such as reconnaissance, networking and aerial photography. In such systems, it is essential to form and maintain the formation of multiple UAVs. This paper proposes the algorithm that produces an autonomous distributed control for each vehicle for a flexible formation. This command is a repulsive force in the form of the second-order system by the nearest UAV or mission area. The algorithm uses the relative position/speed through sensing and communication for calculating the command without external intervention. The command allows each UAV to follow the reference distance and fill the mission area as densely as possible without overlapping. We determine the reference distance via optimization technique solving the packing problem. The mission area comprises the desired formation outline and can be set flexibly depending on the mission. Numerical simulation is carried out to verify the performance of the proposed algorithm under a complex and flexible environment. The formation is formed in 26.94 seconds and has a packing density of 71.91%.
Keywords
Autonomous; Circle packing; Distributed control; Formation; Multiple UAV;
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