| Summary: | 碩士 === 淡江大學 === 航空太空工程學系碩士班 === 107 === This thesis mainly studies the design of the guidance law and collision
avoidance control for UAV formation flight. The leader-follower approach was
adopted for the guidance law development. The error between the follower’s
position and the desired position was used for the generation of the guidance
law. The collision avoidance controls involve the collision avoidance for
leader and follower, and for follower and follower. The collision avoidance
control for leader and follower is based on a geometric collision-cone
approach using the line-of-sight vector, the relative speed and the distance
between leader and follower as conditions for generation of the control
action. The collision avoidance law for the follower and follower is mainly
based on the distance between the followers. Gain scheduling was also
incorporated for the formation control to avoid large transient during mode
transition between collision avoidance control and formation control.
Computer simulations, including straight flight, level turn and regrouping
were conducted to demonstrate the success of the UAV formation flight and
collision avoidance control.
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