Abstract
Unmanned aerial vehicle (UAV) formation is a fundamental application of multi-agent network with special task. The problem of multi-UAV localization considering collision avoidance are studied in this article. Based on the existing geometric localization algorithm, a fusion algorithm is proposed. Gradient method and MLE are used in the algorithm to localize unknown UAVs. Simulation results from Matlab and gazebo are presented to show that the algorithm can converge quickly and ensure safety between UAVs.
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Acknowledgements
This work is supported by the National Natural Science Foundation of China (61803309, 61703343), Fundamental Research Funds for the Central Universities (3102019ZDHKY02, 3102018JCC003), Natural Science Foundation of Shaanxi Province (2018JQ6070, 2019JM-254), China Postdoctoral Science Foundation (2018M633574) and Key Research and Development Project of Shaanxi Province (2020ZDLGY06-02).
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Hu, P., Hu, J., Zhao, C., Pan, Q. (2022). A UAV Formation Control Algorithm Based on Geometric Location. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_367
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DOI: https://doi.org/10.1007/978-981-15-8155-7_367
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