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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Published in	IEEE/ASME transactions on mechatronics Vol. 26; no. 2; pp. 709 - 718
Main Authors	Li, Dongyu, Cao, Kun, Kong, Linghuan, Yu, Haoyong
Format	Journal Article
Language	English
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
Online Access	Get full text
ISSN	1083-4435 1941-014X
DOI	10.1109/TMECH.2021.3055654

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Abstract	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.
AbstractList	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.
Author	Kong, Linghuan Li, Dongyu Yu, Haoyong Cao, Kun
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SubjectTerms	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
Title	Fully Distributed Cooperative Circumnavigation of Networked Unmanned Aerial Vehicles
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