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
Main Authors: Bui, Duy Nam, Phung, Manh Duong, Duy, Hung Pham
Format: Conference Proceeding
Language:English
Subjects:
Aerospace electronics
Autonomous aerial vehicles
Behavioral sciences
Control systems
distributed control
formation control
multi-robot system
Navigation
reconfiguration
System integration
Unmanned aerial vehicles
Vehicle dynamics
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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:2474-2325
DOI:10.1109/SII58957.2024.10417519