Autonomous Formation Flight Test of Multi-Micro Aerial Vehicles

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This paper presents an autonomous formation flight algorithm for micro aerial vehicles (MAVs) and its experiment results. We choose the leader follower scheme for formation flight as it is more appropriate for tracking arbitrary maneuvering of the leader in a formation. The sensing of other vehicles in the formation is achieved by sharing the vehicles' states using a high-speed peer-to-peer radio data link. The designed guidance law is combined with a PD controller for tracking heading, velocity and altitude commands. A series of test flights were performed to validate the proposed formation guidance law. The test result confirms that the proposed formation flight algorithm is feasible to yield satisfactory results.
Publisher
SPRINGER
Issue Date
2011-03
Language
English
Article Type
Article
Citation

JOURNAL OF INTELLIGENT ROBOTIC SYSTEMS, v.61, no.1-4, pp.321 - 337

ISSN
0921-0296
URI
http://hdl.handle.net/10203/98815
Appears in Collection
EE-Journal Papers(저널논문)
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