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Formation Flight and Collision Avoidance for Multiple UAVs using Concept of Elastic Weighting Factor
탄성 가중치 개념을 이용한 다수 무인항공기의 편대비행 및 충돌회피

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Authors
강승훈
Advisor
김유단
Major
공과대학 기계항공공학부
Issue Date
2013-02
Publisher
서울대학교 대학원
Keywords
unmmaned aerial vehicleformation flightcollision avoidanceelastic weighting factor
Description
학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 김유단.
Abstract
In this thesis, the guidance law for formation flight and collision avoidance of multiple Unmanned Aerial Vehicles(UAVs) is proposed. To construct the physically comprehensible guidance law for formation flight, virtual structure approach is used. To develop guidance law for collision avoidance for both other UAVs and unknown static obstacles, geometric approach using geometric information such as relative vector is utilized. Through Lyapunov theorem, the stability of the proposed guidance law is proved. To combine guidance commands, the concept of elastic weighting factor inspired by the elastic behavior of shape memory polymer, which tends to regain its original shape after deformation, is introduced. By using the concept of elastic weighting factor, multiple UAVs are able to cope actively with situation of collision between both UAVs and static obstacles during the formation flight. To verify the performance of proposed method, numerical simulations are performed for various scenarios during formation flight.
Language
English
URI
https://hdl.handle.net/10371/123686
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Theses (Master's Degree_기계항공공학부)
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