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Motionplanningof UAVgroupusing modifiedgyroscopic force forguidance and avoidance

Motionplanningof UAVgroupusing modifiedgyroscopic force forguidance and avoidance
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摘要 It is comment that unmanned aerial vehicles （UAVs） have limitation on information cap- turing in reality applications. Therefore, online method of motion planning is necessary for such UA- Vs. Gyroscopic force （GF） is used for obstacle avoidance as an online method. However, classical GF has shortcoming in generating orbit for UAV with high velocity because the GF results in a time- varying turning radius. Modified gyroscopic force （MGF） given by function of velocity can overcome this shortcoming and help get a more practical control law for avoidance. MGF can also be used to implement the guidance of UAV by designing particular active conditions. Interactions in forms of stress function and damping force are introduced so that an UAV group can have coordinated motion. By combining controls of MGF and interactions, motion planning of UAV group in obstacle environ- ment can be implemented. It is comment that unmanned aerial vehicles （UAVs） have limitation on information cap- turing in reality applications. Therefore, online method of motion planning is necessary for such UA- Vs. Gyroscopic force （GF） is used for obstacle avoidance as an online method. However, classical GF has shortcoming in generating orbit for UAV with high velocity because the GF results in a time- varying turning radius. Modified gyroscopic force （MGF） given by function of velocity can overcome this shortcoming and help get a more practical control law for avoidance. MGF can also be used to implement the guidance of UAV by designing particular active conditions. Interactions in forms of stress function and damping force are introduced so that an UAV group can have coordinated motion. By combining controls of MGF and interactions, motion planning of UAV group in obstacle environ- ment can be implemented.
作者 杨盛庆 于剑桥
机构地区 School of Aerospace Engineering
出处 《Journal of Beijing Institute of Technology》 EI CAS 2014年第3期299-305,共7页 北京理工大学学报（英文版）
基金 Supported by the National Natural Science Foundation of China(61350010)
关键词 UAV group modified gyroscopic force GUIDANCE AVOIDANCE INTERACTION UAV group modified gyroscopic force guidance avoidance interaction
分类号 V279 [航空宇航科学与技术—飞行器设计]
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Journal of Beijing Institute of Technology
2014年 第3期

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