Artificial Potential Design for the Formation Control of UAVs in Leader-follower Model

摘要

Based on cardinal principle of artificial potential field method, an artificial potential field including position and trend potential functions is designed. Taking position information between UAVs (unmanned aerial vehicles) as a variable, position potential function completes initial adjustment of each UAV from the current location to the desired one. According to velocity information, trend potential function achieves the stabilization of each UAV. To track leader and maintain UAV formation, potential function of attraction is designed with distance vector between attraction bearing point and leader. The collision prevention between UAVs is achieved by potential function of repulsion. Simulation results verify the correctness and validity of given control law.