Engineering Commons^™

Cooperative Uav Formation Flying With Obstacle/Collision Avoidance, Xiaohua Wang, Vivek Yadav, S. N. Balakrishnan

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Navigation problems of unmanned air vehicles (UAVs) flying in a formation in a free and an obstacle-laden environment are investigated in this brief. when static obstacles popup during the flight, the UAVs are required to steer around them and also avoid collisions between each other. In order to achieve these goals, a new dual-mode control strategy is proposed: a “safe mode” is defined as an operation in an obstacle-free environment and a “danger mode” is activated when there is a chance of collision or when there are obstacles in the path. Safe mode achieves global optimization because the dynamics of …