Circular formation control of fixed-wing UAVs with constant speeds

Hector Garcia De Marina, Zhiyong Sun, Murat Bronz, Gautier Hattenberger

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    21 Citations (Scopus)

    Abstract

    In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with respect to a target circumference. We prove that the origin of the error dynamics of the inter-vehicle phases is exponentially stable. Furthermore, thanks to the stability properties of the guidance vector field that guides the vehicles, the algorithm can be extended to other closed trajectories. One of the main advantages of this approach is that the algorithm guarantees the confinement of the team in a specific area, even when communications or sensing among vehicles are lost. We show the effectiveness of the algorithm with an actual formation flight of three aircraft. The algorithm is ready to use for the general public in the open-source Paparazzi autopilot.

    Original languageEnglish
    Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages5298-5303
    Number of pages6
    ISBN (Electronic)9781538626825
    DOIs
    Publication statusPublished - 13 Dec 2017
    Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
    Duration: 24 Sept 201728 Sept 2017

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    Volume2017-September
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    Country/TerritoryCanada
    CityVancouver
    Period24/09/1728/09/17

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