Abstract
The motion planner of several fixed-wing unmanned aerial vehicles (UAVs) using a leader-follower strategy is presented in this paper, using the architecture of the Lyapunov-based control scheme (LbCS). Here, we use the leader-follower formation type, where the flock must move in accordance with its leader through a congested workplace to fulfill its predetermined goals. When there are obstacles, the formation gets slightly distorted and rejoins at a safer location while preserving its low degree of formation. In our scenario, the obstacles will be spherical stationary obstacles, and each moving aircraft in the swarm will serve as an obstacle for every other member (moving obstacles). The Lyapunov-based control scheme will be used to create a series of nonlinear acceleration-based controllers to successfully achieve this task. The controllers will facilitate and ensure the flock’s capacity to coordinate its travel in a well-planned manner, converge to its intended destination, and do so while keeping a low degree of formation and avoiding obstacles. The effectiveness of the suggested nonlinear acceleration control principles will be proved by computer simulations of a virtual scenario. This will reveal the simplicity and effectiveness of the control technique used. The paper finally ends with a conclusion and future recommendations.
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Chand, R., Raghuwaiya, K., Vanualailai, J., Raj, J. (2023). Leader-Follower Based Low-Degree Formation Control of Fixed-Wing Unmanned Aerial Vehicles in 3D. In: Reddy, A.B., Nagini, S., Balas, V.E., Raju, K.S. (eds) Proceedings of Third International Conference on Advances in Computer Engineering and Communication Systems. Lecture Notes in Networks and Systems, vol 612. Springer, Singapore. https://doi.org/10.1007/978-981-19-9228-5_10
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DOI: https://doi.org/10.1007/978-981-19-9228-5_10
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