Rendezvous of Multiple UAVs with Collision Avoidance Using Consensus
Publication: Journal of Aerospace Engineering
Volume 25, Issue 4
Abstract
This paper addresses the problem of multiple unmanned aerial vehicle (UAV) rendezvous when the UAVs have to perform maneuvers to avoid collisions with other UAVs. The proposed solution consists of using velocity control and a wandering maneuver, if needed, of the UAVs based on a consensus among them on the estimated time of arrival at the point of the rendezvous. This algorithm, with a slight modification is shown to be useful in tracking stationary or slowly moving targets with a standoff distance. The proposed algorithm is simple and computationally efficient. The simulation results demonstrate the efficacy of the proposed approach.
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Information
Published In
Journal of Aerospace Engineering
Volume 25 • Issue 4 • October 2012
Pages: 480 - 489
Copyright
© 2012 American Society of Civil Engineers.
History
Received: Feb 10, 2011
Accepted: Jun 14, 2011
Published online: Jun 16, 2011
Published in print: Oct 1, 2012
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