Self-Reconfigurable V-shape Formation of Multiple UAVs in Narrow Space Environments

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibi...

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Bibliographic Details
Published inarXiv.org
Main Authors Duy Nam Bui, Manh Duong Phung, Hung, Pham Duy
Format Paper Journal Article
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 13.02.2024
Subjects
Aerospace environments
Algorithms
Barriers
Computer Science - Robotics
Control theory
Obstacle avoidance
Reconfiguration
Shape
Straight lines
Unmanned aerial vehicles
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Summary:This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibility advantages. The main objective is to develop an effective formation control strategy that allows UAVs to autonomously adjust their positions to form the desired formation while navigating through obstacles. To achieve this, we propose a distributed behavior-based control algorithm that combines the behaviors designed for individual UAVs so that they together navigate the UAVs to their desired positions. The reconfiguration process is automatic, utilizing individual UAV sensing within the formation, allowing for dynamic adaptations such as opening/closing wings or merging into a straight line. Simulation results show that the self-reconfigurable V-shape formation offers adaptability and effectiveness for UAV formations in complex operational scenarios.
ISSN:2331-8422
DOI:10.48550/arxiv.2402.08245