Smyrnakis, M., Kladis, G.P., Aitken, J.M. orcid.org/0000-0003-4204-4020 et al. (1 more author) (2016) Distributed selection of flight formation in UAV missions. Journal of Applied Mathematics & Bioinformatics, 6 (3). pp. 93-124. ISSN 1792-6602
Abstract
Recent advances in sensor, processor and airframe technologies allow coordination of large groups of autonomous unmanned aerial vehicles (UAV) today. Reconfiguration of the formation is sometimes necessary in order to accomplish a mission’s objectives. A centralised solution to optimal reconfiguration may often be either impossible or intractable due to sensor, communication, physical, computational restrictions. Thus a distributed approach may be more appropriate to accommodate real-world scenarios. In this article we propose a novel distributed control method, which is divided into two modules: a leaderfollower module, which allows UAVs to keep a pre-specified formation, and a decision making module that allows UAVs to choose among various available formations in an optimum sense. UAVs choose the best formation to accomplish each part of the mission and retain this formation till the next way-point. The simulation presented uses a 5-leg mission and Parrot AR-drones are used as test-beds to demonstrate the usefulness of the proposed distributed controller.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 The Author. This is an author produced version of a paper subsequently published in Journal of Applied Mathematics and Bioinformatics. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Control method; UAVs; distributed controller |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/J011843/1 ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/J011894/2 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 03 Mar 2017 16:37 |
Last Modified: | 03 Mar 2017 16:37 |
Published Version: | http://www.scienpress.com/journal_focus.asp?main_i... |
Status: | Published |
Publisher: | Scienpress |
Refereed: | Yes |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:112884 |