06.2 - Flight Dynamics and Control (UAV related)
SOFTWARE-IN-THE-LOOP SIMULATION OF DISTRIBUTED 3D INTEGRATED SWARM GUIDANCE FOR FIXED-WING UAVS
Y.C. Yang¹, J.H. Jeong, Hanseo University, South Korea; S.K. Kim¹, J.Y. Suk¹; ¹Chungnam National University, South Korea
This paper proposes a distributed three-dimensional integrated guidance that simultaneously achieves path following, swarm formation maintenance, and collision avoidance for fixed-wing unmanned aerial vehicles (UAVs) in swarm flight. Fixed-wing UAVs are limited by their kinematics: they cannot hover and require bank-angle control for circling flight. Therefore, balancing the conflicting control objectives of precise path following and safe swarm maintenance poses a significant challenge. To overcome this problem, this study present a regularization-based integrated method that combines the outputs of vector field guidance, augmented Cucker-Smale model, and potential field guidance within the physical maneuvering limits of the UAV. The proposed algorithm is implemented in a Software-In-the-Loop (SILS) environment utilizing PX4, ROS2, and Gazebo, validating the theoretical derivations in a practical flight software stack. The SILS simulation demonstrates the feasibility of cooperative swarm flight for multiple UAVs to simultaneously launch and perform diverse missions.