Seunghoon Kang, Hyunjin Choi and Youdan Kim
International Journal of Aeronautical and Space Sicences, vol. 14, no. 1, pp.75-84, 2013

Abstract : In this paper, the guidance law for formation flight and collision avoidance of multiple Unmanned Aerial Vehicle (UAV)s is proposed. To construct the physically comprehensible guidance law for formation flight, the virtual structure approach is used. To develop a guidance law for collision avoidance considering both other UAVs and unknown static obstacles, a geometric approach using information such as a relative position vector is utilized. Through the Lyapunov theorem, the stability of the proposed guidance law is proved. To combine guidance commands, the concept of the elastic weighting factor inspired by the elastic behavior of shape memory polymer, which tends to regain its original shape after deformation, is introduced. By using the concept of elastic weighting factor, multiple UAVs are able to cope actively with the situation of a collision between both UAVs and static obstacles during the formation flight. To verify the performance of the proposed method, numerical simulations are performed.

Keyword : Unmmaned Aerial Vehicle, Formation Flight, Collision Avoidance, Elastic Weighting Factor