Formation control for UAVs using a Flux Guided approach

作者：

Highlights：

• Formation control of unmanned aerial vehicles to track and surround targets.

• A potential field based controller inspired by electric flux.

• Constrained minimisation to maintain agent distances while following the field.

• Planned paths compatible with proportional–integral–derivative controllers.

• Applications in hostile UAV tracking and neutralisation, search and rescue.

摘要

•Formation control of unmanned aerial vehicles to track and surround targets.•A potential field based controller inspired by electric flux.•Constrained minimisation to maintain agent distances while following the field.•Planned paths compatible with proportional–integral–derivative controllers.•Applications in hostile UAV tracking and neutralisation, search and rescue.

论文关键词：Unmanned aerial vehicles,Multi-agent motion planning,Formation encirclement,Artificial harmonic field,Electric flux

论文评审过程：Received 8 November 2021, Revised 9 May 2022, Accepted 27 May 2022, Available online 3 June 2022, Version of Record 9 June 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.117665