A Simple Control Law for UAV Formation Flying
| dc.contributor.author | Justh, Eric W. | en_US |
| dc.contributor.author | Krishnaprasad, Perinkulam S. | en_US |
| dc.contributor.department | ISR | en_US |
| dc.date.accessioned | 2007-05-23T10:12:08Z | |
| dc.date.available | 2007-05-23T10:12:08Z | |
| dc.date.issued | 2002 | en_US |
| dc.description.abstract | This paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. <p>The vehicle trajectories are described using planar Frenet-Serret equations of motion, which capture the evolution of both the vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The set of all possible (relative) equilibria for arbitrary <I>G</I>-invariant curvature controls is described (where <I>G = SE(2)</I> is a symmetry group for the control law). A generalization of the control law for <I>n</I> vehicles is presented, and the corresponding (relative) equilibria are characterized. Work is on-going to discover stability and convergence results for the <I>n</I>-vehicle problem. <p>The practical motivation for this work is the problem of formation control for meter-scale UAVs; therefore, an implementation approach consistent with UAV payload constraints is also discussed. | en_US |
| dc.format.extent | 542541 bytes | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1903/6274 | |
| dc.language.iso | en_US | en_US |
| dc.relation.ispartofseries | ISR; TR 2002-38 | en_US |
| dc.subject | Sensor-Actuator Networks | en_US |
| dc.title | A Simple Control Law for UAV Formation Flying | en_US |
| dc.type | Technical Report | en_US |
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