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학술대회 UWB based Relative Navigation and Leader-Follower Formation for UAVs using Maneuvering of a Follower
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이성봉, 박천만, 이상연, 전지훈, 이동진
International Conference on Control, Automation and Systems (ICCAS) 2021, pp.1-5
21ZR1100, 자율적으로 연결·제어·진화하는 초연결 지능화 기술 연구, 박준희
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 제안 키워드
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