Virtual Electric Dipole Field Applied to Autonomous Formation Flight Control of Unmanned Aerial Vehicles

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Autonomous Unmanned Aerial Vehicles (UAVs) require robust control for formation flight.
• Existing methods may lack adaptability and inherent safety guarantees in dynamic leader-follower scenarios.

Purpose of the Study:

• To present a novel control algorithm for leader-follower UAV formations using virtual electric dipole potential fields.
• To demonstrate the adaptability, safety, and collision avoidance capabilities of the proposed method.

Main Methods:

• Utilized a virtual electric dipole potential field to generate desired headings for follower UAVs.
• Developed a control algorithm based on vector fields derived from scalar potential fields.
• Incorporated mechanisms for obstacle and inter-vehicle collision avoidance.

Main Results:

• Simulations validated the effectiveness of the virtual electric dipole potential field control method.
• The algorithm demonstrated rapid adaptation to leader position changes.
• Ensured safe formation flight and collision-free conditions irrespective of initial vehicle positions.

Conclusions:

• The proposed method significantly improves UAV formation organization and safety.
• The control system is adaptable to vehicles with different dynamics without extensive retuning.
• The virtual electric dipole potential field approach offers a reliable solution for autonomous formation flight.