- 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.