Fixed-wing UAV Kinematics Model using Direction Restriction for Formation Cooperative Flight

Yuxuan Fang, Yiping Yao, Feng Zhu, Kai Chen

2022

Abstract

Presently, existing fixed-wing UAV kinematics models typically require the planning algorithm to further smooth the results to meet the trajectory requirements of the starting direction, while the commonly used formation models often lead to track interference between formation members. In this paper, the formation cooperative flight of fixed-wing UAVs was modeled. First, the linear velocities in the three-dimensional direction of the traditional UAV model were changed to a linear velocity along the flight direction of the UAV, and the turning angular velocities and linear acceleration were set to establish the kinematics model. Then, based on the "Lead plane-Wingman" formation control structure, the order of friendly aircraft avoidance was defined by setting the priority of the formation members, and the target point of the wingman was dynamically calculated according to the target formation and real-time position of the leader plane. Finally, a UAV formation cooperative flight model was obtained. Considering the formation of five UAVs as an example, a simulation experiment was carried out, the results of which showed that the trajectory obtained based on the above model could meet the kinematics and collision avoidance requirements in formation flight of the fixed-wing UAVs.

Paper Citation

in Harvard Style

Fang Y., Yao Y., Zhu F. and Chen K. (2022). Fixed-wing UAV Kinematics Model using Direction Restriction for Formation Cooperative Flight. In Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-578-4, pages 92-101. DOI: 10.5220/0011299200003274

in Bibtex Style

@conference{simultech22,
author={Yuxuan Fang and Yiping Yao and Feng Zhu and Kai Chen},
title={Fixed-wing UAV Kinematics Model using Direction Restriction for Formation Cooperative Flight},
booktitle={Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2022},
pages={92-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011299200003274},
isbn={978-989-758-578-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Fixed-wing UAV Kinematics Model using Direction Restriction for Formation Cooperative Flight
SN - 978-989-758-578-4
AU - Fang Y.
AU - Yao Y.
AU - Zhu F.
AU - Chen K.
PY - 2022
SP - 92
EP - 101
DO - 10.5220/0011299200003274