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Study on Composing Dense Formations in a Dynamic Environment of Multirotor UAVs by Distributed Control

Author

Listed:
  • Shudao Zhou
  • Ao Shen
  • Min Wang
  • Shuling Peng
  • Zhanhua Liu

Abstract

In order to make multirotor unmanned aerial vehicles (UAV) compose a desired dense formation and improve the practicality of UAV formation, a distributed algorithm based on fuzzy logic was proposed. The airflow created by multirotor UAVs was analyzed according to the structure of the multirotor UAV and the characteristic equation of the fluid. This paper presented a dynamic model for the process of formation of and path search algorithm based on this model. The membership function in this model combines the factors of position, flow field, and movement. Integrating the dynamic model and its desired position in formations, each UAV evaluates the surrounding points and then selects the direction for step motion. Through simulation, this algorithm was improved by a by-step formation approach, and the effectiveness of this method in dense formation of multirotor UAVs was proved.

Suggested Citation

  • Shudao Zhou & Ao Shen & Min Wang & Shuling Peng & Zhanhua Liu, 2018. "Study on Composing Dense Formations in a Dynamic Environment of Multirotor UAVs by Distributed Control," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-8, October.
    • Handle: RePEc:hin:jnlmpe:7878094
    DOI: 10.1155/2018/7878094
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    Cited by:

    1. Qiang Shi & Yulei Pan & Beibei He & Huaiqun Zhu & Da Liu & Baoguo Shen & Hanping Mao, 2021. "The Airflow Field Characteristics of UAV Flight in a Greenhouse," Agriculture, MDPI, vol. 11(7), pages 1-12, July.

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