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Barriers space UAV formation control study

Author: LiuJianPing
Tutor: GuoDongWei；ZouShuXue
School: Jilin University
Course: Software Engineering
Keywords: UAV formation Avoidance Artificial potential field Rotating force
CLC: O226
Type: Master's thesis
Year: 2010
Downloads: 279
Quote: 1
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Abstract


UAVs can be used in intelligent monitoring , surveying engineering, aerial photography, remote sensing and disaster warning , network communication [ 0 ] and other fields. The UAV formation to improve overall system performance as an effective means to become a research hotspot in recent years . In this paper, UAV formation as research background, formation control architecture , the ideal model of UAV formation and obstacle avoidance as well as consider the actual dynamics model of UAV formation and obstacle avoidance control were studied. Mainly to complete the work includes the following: ( a ) the control of domestic and foreign UAV formation depth research , proposed decentralized UAV formation control framework . ( 2 ) For the ideal UAV model design hurdles space UAV formation and obstacle avoidance control strategy and verified by numerical simulation algorithm. ( 3 ) for the actual UAV dynamics model , taking into account the uncertainty of outside interference with the model case is designed based on robust model predictive control UAV formation and obstacle avoidance control strategy and algorithm is verified by numerical simulation effectiveness .

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CLC: > Mathematical sciences and chemical > Mathematics > Operations Research > Queuing theory (random system)
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