S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Theses (Ph.D. / Sc.D._기계항공공학부)
Autonomous Formation Flight of Multiple Unmanned Aerial Vehicles using Decentralized Communication
분산형 통신기법을 이용한 복수 무인기의 자동 편대비행
- 공과대학 기계항공공학부
- Issue Date
- 서울대학교 대학원
- Multiple UAVs; Formation flight; Decentralized communication; Close formation flight; Triangular formation
- 학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 2. 김유단.
- To perform surveillance or reconnaissance of large areas effectively and efficiently, the use of multiple unmanned aerial vehicles (UAVs) flying in formation is recommended. For formation flight, a guidance and control algorithm is required. Recently, many studies have been conducted to develop algorithms for formation flight, but no centralized communication structure that is suitable for multiple UAV formation flight has become widely used. Additionally, the performance of the developed algorithms has mainly been demonstrated using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this dissertation, a formation flight algorithm based on decentralized communication is proposed, and the performance of the proposed algorithm is verified by numerical simulations and a flight test experiment.
In this study, a multiple UAV system is constructed, and a formation guidance algorithm is proposed, and its use is demonstrated in an autonomous formation flight. To develop the multiple UAV platform, a UAV hardware system, including the airframe and avionics, is constructed. An on-board decentralized information sharing method is proposed, and the effect of the communication delay is analyzed. Based on sensor information sharing, a law for guiding multiple UAVs as they perform circular and close formations is designed. Numerical simulations are performed to demonstrate the performance of the formation flight guidance and control algorithm for multiple UAVs. Finally, a flight test is performed to verify the proposed algorithm for guiding the formation flight of a multiple-UAV system.