28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-11.2.2

MULTIPLE UAV FORMATION RECONFIGURATION WITH COLLISION AVOIDANCE GUIDANCE VIA DIFFERENTIAL GEOMETRY CONCEPT

J. Seo, Y. Kim, A. Tsourdos*, B. White*
Seoul National Univ., Korea; *Cranfield Univ., UK

Keywords: uav, formation, reconfiguration, collision, avoidance

Guidance law based on differential geometry is proposed for UAV formation flight and collision avoidance. Differential geometry based guidance strategy makes it possible for multiple UAVs to avoid dynamic obstacles and keep formation simultaneously. Formation reconfiguration strategy and decision making process are proposed as well.

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