首页 | 本学科首页   官方微博 | 高级检索  
     


Design and implementation of a leader-follower cooperative control system for unmanned helicopters
Authors:Ben YUN  Ben M CHEN  Kai Yew LUM and Tong H LEE
Affiliation:1. Department of Electrical & Computer Engineering,National University of Singapore,Singapore 117576
2. Temasek Laboratories,National University of Singapore,Singapore 117508
Abstract:In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle (UAV) helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. More specifications are made for multiple UAV formation flight. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design.
Keywords:Unmanned Aerial Vehicles  Cooperative Control  Flight Formation  Collision Avoidance
本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录!
点击此处可从《控制理论与应用(英文版)》浏览原始摘要信息
点击此处可从《控制理论与应用(英文版)》下载全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号