Fully Distributed Cooperative Circumnavigation of Networked Unmanned Aerial Vehicles

In this article, cooperative circumnavigation (CCN) is studied for groups of networked unmanned aerial vehicles (UAVs) under a directed interaction topology. The CCN drives UAVs to given planar ellipses with desired spatial formation. A first contribution is that based on affine transformations, CCN...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 26; no. 2; pp. 709 - 718
Main Authors Li, Dongyu, Cao, Kun, Kong, Linghuan, Yu, Haoyong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Aerospace electronics
Affine transformations
Angular velocity
cooperative circumnavigation (CCN)
Military strategy
Moving targets
Orbits
Shape
Space vehicles
Task analysis
Topology
Unmanned aerial vehicles
unmanned aerial vehicles (UAVs)
Vehicle dynamics
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ISSN1083-4435
1941-014X
DOI10.1109/TMECH.2021.3055654

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Summary:In this article, cooperative circumnavigation (CCN) is studied for groups of networked unmanned aerial vehicles (UAVs) under a directed interaction topology. The CCN drives UAVs to given planar ellipses with desired spatial formation. A first contribution is that based on affine transformations, CCN control design is structured, which can deploy UAVs on spatial orbits with different radii concerning a moving target in 3-D space. Second, no global information, such as the formation center, the desired radius, the angular velocity of circumnavigation, etc., is needed for any follower UAVs since they are completely maneuvered by the leader UAVs.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2021.3055654