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Synthesis of the Laws of Motion Control of a UAV Group With Natural Obstacles
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Author(s): Dmytro Kucherov (National Aviation University, Ukraine), Minglei Fu (Zhejiang University of Technology, China)and Andrei Kozub (National University of Defense of Ukraine, Ukraine)
Copyright: 2019
Pages: 27
Source title:
Automated Systems in the Aviation and Aerospace Industries
Source Author(s)/Editor(s): Tetiana Shmelova (National Aviation University, Ukraine), Yuliya Sikirda (Kirovograd Flight Academy of the National Aviation University, Ukraine), Nina Rizun (Gdansk University of Technology, Poland), Dmytro Kucherov (National Aviation University, Ukraine)and Konstantin Dergachov (National Aerospace University – Kharkiv Aviation Institute, Ukraine)
DOI: 10.4018/978-1-5225-7709-6.ch007
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Abstract
A solution is proposed for the task of controlling a group of UAVs moving along a given route. The group is considered as a limited-size formation consisting of n-agents moving relative to the leader, which allows us to treat the group as some aggregate with the center of motion. The quantitative composition of a group can change while maintaining the integrity of the group. The chapter proposes the use of smooth laws governing the motion of a group. The safety of motion is ensured by introducing into the law of control the components equivalent to the creation of attractive and repulsive fields.
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