Fully Distributed Cooperative Circumnavigation of Networked Unmanned Aerial Vehicles
Dongyu Li, Kun Cao, Linghuan Kong, Haoyong Yu
Abstract
In this article, cooperative circumnavigation (CCN) is studied for groups of networked unmanned aerial vehicles (UAVs) under a directed interaction topology. The CCN drives UAVs to given planar ellipses with desired spatial formation. A first contribution is that based on affine transformations, CCN control design is structured, which can deploy UAVs on spatial orbits with different radii concerning a moving target in 3-D space. Second, no global information, such as the formation center, the desired radius, the angular velocity of circumnavigation, etc., is needed for any follower UAVs since they are completely maneuvered by the leader UAVs.
Topics & Concepts
EllipseRADIUSComputer scienceAerospace engineeringPlanarTopology (electrical circuits)SimulationEngineeringMathematicsGeometryComputer graphics (images)Computer networkElectrical engineeringDistributed Control Multi-Agent SystemsRobotic Path Planning AlgorithmsRobotics and Sensor-Based Localization