A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance
Abstract
:1. Introduction
2. Uav Formation Maintenance Methods
2.1. System Model
2.2. Circular UAV Formation Maintenance Method
- (1)
- Tangential adjustmentIn tangential adjustment, we choose two adjacent UAVs, and , and the signal-emitting UAV in the center of the circle. and receive signals according to the clock. Next, finds the tangential direction as the direction perpendicular to the received signal. It moves in the tangential direction until the angle becomes . We repeat this adjustment until index i goes from 1 to k. After the tangential adjustment, adjacent UAVs have equal relative angles.
- (2)
- Radial AdjustmentIn radial adjustment, we choose two UAVs and on the circle, in the center of the circle as the signal-emitting UAVs, and as the signal-receiving UAVs controlled by the clock. sets the radial direction as the direction of the received signals. It moves along the radial direction until the angle becomes . As shown in Figure 2, the triangle is similar to the triangle , so the radius relationship of the UAVs satisfies in Figure 3. This adjustment repeats until index i goes from 1 to k for M rounds, which we discuss in Section 3. According to Theorem 1, the proposed algorithm converges, and the convergence radius after adjustment is . The expectation and variance under initial log-normal distribution are and , respectively. The difference between and preset radius and are , suggesting strong anti-interference capability, even for large values of k.
2.3. Extension to a General Formation
- There is an UAV in the center of the formation.
- The formation consists of N concentric circles of different radii.
- UAVs on the same circle are aimed to be equally spaced.
3. Results
4. Discussion
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Abbreviations
UAV | Unmanned Aerial Vehicle |
PID | Proportion Integration Differentiation |
RMSE | Root Mean Square Error |
Appendix A. Proof of Theorem 1
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Gao, Y.; Feng, H.; Chen, J.; Li, J.; Wei, Z. A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance. Sensors 2023, 23, 3849. https://doi.org/10.3390/s23083849
Gao Y, Feng H, Chen J, Li J, Wei Z. A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance. Sensors. 2023; 23(8):3849. https://doi.org/10.3390/s23083849
Chicago/Turabian StyleGao, Yuchong, Huiqi Feng, Jiexiang Chen, Junhui Li, and Zhiqing Wei. 2023. "A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance" Sensors 23, no. 8: 3849. https://doi.org/10.3390/s23083849
APA StyleGao, Y., Feng, H., Chen, J., Li, J., & Wei, Z. (2023). A Scalable Distributed Control Algorithm for Bearing-Only Passive UAV Formation Maintenance. Sensors, 23(8), 3849. https://doi.org/10.3390/s23083849