Control Law of Target Tracking for Multiple Autonomous UAVs Using Virtual Forces

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  • KATA Hiroaki
    Graduate School of Environment and Information Sciences, Yokohama National University
  • UENO Seiya
    Graduate School of Environment and Information Sciences, Yokohama National University

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  • バーチャルフォースを用いた自律型UAV群による移動体追従制御則
  • バーチャルフォース オ モチイタ ジリツガタ UAVグン ニ ヨル イドウタイ ツイジュウ セイギョソク

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Abstract

<p>Position control law for multiple unmanned aerial vehicles (UAVs) to monitor a moving target using virtual forces is proposed. A monitoring image of the target that acquired by a nearby UAV is sent to base through the UAVs network. Each UAV forms a communication network and calculates own moving amount with a virtual forces using only information in local area. Numerical simulations show that the proposed control law is valid.</p>

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