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Conference Paper
UWB based Relative Navigation and Leader-Follower Formation for UAVs using Maneuvering of a Follower
- Authors
- Seongbong Lee, Cheonman Park, Sang-yeoun Lee, Ji Hun Jeon, Dongjin Lee
- Issue Date
- 2021-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2021, pp.1-5
- Language
- English
- Type
- Conference Paper
- Project Code
- 21ZR1100, A Study of Hyper-Connected Thinking Internet Technology by autonomous connecting, controlling and evolving ways, Park Jun Hee
- Abstract
- In this paper, we propose UWB based leader-follower formation flight method. For leader-follower formation flight, relative position between leader and follower is required, but when using only UWB, bearing angle between them is not obtained. In this paper, to estimate relative position we use relative velocity based on reference frame. It assumes that velocities of UAVs are estimated each other using inertial measurement unit and shared through ad-hoc network and change of relative position is estimated by numerically integrating relative velocity. using set of change of relative position and relative distance, we estimate relative position. Conditions that relative position cannot estimate exist, to avoid satisfying it we modified guidance law of one of followers. proposed method is validated through simulation.
- KSP Keywords
- Ad Hoc Networks, Bearing Angle, Formation flight, Guidance Law, Inertial Measurement Unit(IMU), Leader-follower formation, Reference frame, Relative Distance, Relative Velocity, Relative position, relative navigation