Design of UAV Formation Flight and Collision Avoidance Based on Geometric Approach

• Main Authors: Hung-Cheng Chu, 朱弘正
• Other Authors: 蕭照焜
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/d8cr3e

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.