Modeling and controlling 3D formations and flocking behavior of unmanned air vehicles

F. Belkhouche, S. Vadhva, M. Vaziri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper deals with the problem of modeling and controlling dynamic formations and flocking behavior of unmanned air vehicles. Dynamic formations are modeled using 3D kinematic models combined with dynamic graph structures. The leader-follower and co-leader interconnections are described by time-varying matrices that consist of a binary connectivity matrix and shape matrices. The control laws allowing to maintain the formation with stable motion are decentralized and reactive. They consist of linear navigation laws with deviation terms. These laws are used to generate trajectories to reach the goal and/or switch from one configuration to another. All geometric shapes are obtained from a basic shape that consists of a triangle. Thus any formation is a collection of triangles. To simplify the modeling and control tasks, a cylindric coordinate system is used and the three dimensional workspace is resolved into horizontal and vertical planes. The vehicles are then controlled in the horizontal and vertical planes separately.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 IEEE International Conference on Information Reuse and Integration, IRI 2011
Pages449-454
Number of pages6
DOIs
StatePublished - 2011
Event12th IEEE International Conference on Information Reuse and Integration, IRI 2011 - Las Vegas, NV, United States
Duration: Aug 3 2011Aug 5 2011

Publication series

NameProceedings of the 2011 IEEE International Conference on Information Reuse and Integration, IRI 2011

Conference

Conference12th IEEE International Conference on Information Reuse and Integration, IRI 2011
CountryUnited States
CityLas Vegas, NV
Period8/3/118/5/11

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Information Systems and Management

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