- 著者
 
          - 
             
             鈴木 真之
             
             内山 賢治
             
             Derek J. BENNET
             
             Colin R. MCINNES
             
          
 
          
          
          - 出版者
 
          - 一般社団法人 日本航空宇宙学会
 
          
          
          - 雑誌
 
          - 日本航空宇宙学会論文集 (ISSN:13446460)
 
          
          
          - 巻号頁・発行日
 
          - vol.59, no.693, pp.259-265, 2011 (Released:2011-10-21)
 
          
          
          - 参考文献数
 
          - 16
 
          
          
        
        
        
        This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.