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Abstracts of the Papers Published in Journal of the Japan Society for Aeronautical and Space Sciences

机译：《日本航空航天科学学会杂志》上发表的论文摘要

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摘要

This paper attempts to design a guidance law using bifurcating potential fields and velocity field for a swarm of autonomous Unmanned Aerial Vehicles (UAVs). We consider an autonomous flight system that can create different three-dimensional swarming patterns so as to guarantee obstacle and vehicle collision avoidance. The guidance law, which is derived from a steering and repulsive potential field, can express variable geometric patterns for a formation flight of UAVs. The system can transition between different formation patterns by way of a simple parameter change. We also describe the design method for potential field that is flexible enough to respond to a variety of UAV performance and mission. Numerical simulation is performed to verify the validity of the proposed guidance law.
机译：本文试图为自动无人飞行器（UAV）群设计使用分叉势场和速度场的制导律。我们考虑一种自动飞行系统，该系统可以创建不同的三维蜂群模式，从而确保避免障碍物和车辆碰撞。源自定律和排斥势场的制导律可以表达用于无人机编队飞行的可变几何图案。该系统可以通过简单的参数更改在不同的地层模式之间转换。我们还描述了潜在领域的设计方法，该方法足够灵活，可以响应各种无人机的性能和任务。进行了数值模拟，以验证所提出的制导律的有效性。

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