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Real-time formation control and obstacle avoidance algorithm for fixed-wing UAVs

Published online by Cambridge University Press:  23 February 2022

A. Mirzaee Kahagh Open the ORCID record for A. Mirzaee Kahagh [Opens in a new window] ,
F. Pazooki Open the ORCID record for F. Pazooki [Opens in a new window] ,
S. Etemadi Haghighi Open the ORCID record for S. Etemadi Haghighi [Opens in a new window]  and
D. Asadi Open the ORCID record for D. Asadi [Opens in a new window]
A. Mirzaee Kahagh
Affiliation:
Department of Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
F. Pazooki
Affiliation:
Department of Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
S. Etemadi Haghighi*
Affiliation:
Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
D. Asadi
Affiliation:
Department of Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
*
Corresponding author. Email: setemadi@srbiau.ac.ir
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Abstract

This paper proposes a novel real-time formation control and obstacle avoidance algorithm for multiple fixed-wing UAVs. A formation control algorithm is designed by a combination of the virtual structure, leader-follower, and artificial potential fields methods and harnessing the advantages of those approaches. The kinematic and dynamic constraints of fixed-wing UAVs are considered in the path planning. The performance of the proposed algorithm is examined through simulation in Matlab software by applying the translational dynamics of fixed-wing UAVs. Simulations of different complex scenarios demonstrate the effectiveness of the presented formation flight algorithm through generating multiple efficient paths, which are fully consistent with the functional constraints of the UAVs in the presence of obstacles.

Keywords

Formation controlObstacle avoidanceMultiple fixed-wing UAVsArtificial potential fieldsLeader-followerVirtual structure
Type
Research Article
Information
The Aeronautical Journal , Volume 126 , Issue 1306 , December 2022 , pp. 2111 - 2133
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Copyright
© The Author(s), 2022. Published by Cambridge University Press on behalf of Royal Aeronautical Society

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