Unmanned Aerial Vehicle Formation Flying Path Plan by Combined Algorithm of Potential and Lyapunov

Document Type : Research Article

Authors

university of isfahan

Abstract

This paper discussed and introduced a new path-planning algorithm, based on improved potential field and Lyapunov guidance vector field. According to the requirements of the unmanned aerial vehicle for tracking and obstacle avoidance mission, a real-time method is proposed by combined algorithm of Lyapunov and potential. The features of this newly introduced algorithm are real-time, fast computing and obstacle avoidance capability which causes the algorithm to perform well in complex environments and applications like coordinated tracking of unmanned aerial vehicles. Improved potential flow field primarily provides obstacle avoidance feature and Lyapunov guidance vector field provides tracking feature for this newly introduced algorithm. To achieve the mission of tracking the target and avoid the obstacle at the same time, the guidance vector field by Lyapunov guidance vector field is taken as the original vector field of improved potential flow field. The results prove that the new hybrid and combined method is applicable to complex environments and complex application like coordinate tracking of moving target.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 52, Issue 1
April 2020
Pages 85-96

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