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Obstacle avoidance in V-shape formation flight of multiple fixed-wing UAVs using variable repulsive circles

Published online by Cambridge University Press:  23 October 2020

A. Mirzaee Kahagh Open the ORCID record for A. Mirzaee Kahagh [Opens in a new window] ,
F. Pazooki Open the ORCID record for F. Pazooki [Opens in a new window]  and
S. Etemadi Haghighi Open the ORCID record for S. Etemadi Haghighi [Opens in a new window]
A. Mirzaee Kahagh
Affiliation:
Department of Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
F. Pazooki*
Affiliation:
Department of Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
S. Etemadi Haghighi
Affiliation:
Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
*
[email protected]
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Abstract

A formation control and obstacle avoidance algorithm has been introduced in this paper for the V-shape formation flight of fixed-wing UAVs (Unmanned Aerial Vehicles) using the potential functions method. An innovative vector approach has been suggested to fix the conventional challenge in employing the artificial potential field (APF) approach (the creation of local minimums). A method called variable repulsive circles (VRC) has been then presented aimed at designing proper flight paths tailored with functional limitations of fixed-wing UAVs in facing obstacles. Finally, the efficiency of the designed algorithm has been examined and evaluated for different flight scenarios.

Keywords

fixed-wing UAVs formation flightvariable V-shape formationstraight-line formationVRCs obstacle avoidance
Type
Research Article
Information
The Aeronautical Journal , Volume 124 , Issue 1282 , December 2020 , pp. 1979 - 2000
Copyright
© The Author(s), 2020. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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References

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