Effects of the Steering and Repulsive Potential Interaction on UAV Swarm Formation Equilibrium

A. Sharma, N. K. Sinha
{"title":"Effects of the Steering and Repulsive Potential Interaction on UAV Swarm Formation Equilibrium","authors":"A. Sharma, N. K. Sinha","doi":"10.1109/ICC54714.2021.9703153","DOIUrl":null,"url":null,"abstract":"Unmanned Aerial Vehicle (UAV) swarms show great advantages in many applications such as surveillance, reconnaissance, and exploration because of the reduced computational expense, robustness, and less complexity. Artificial potential field (APF) is one such decentralized control strategy that steers UAV through steering and repulsive potential fields to achieve a formation. This paper extends to the previous research of the use of bifurcating APFs for swarm formation control by studying the unaccounted effects of repulsive potentials on the equilibrium states of the swarm system. Two prominent effects are observed, both of which are tied to the parameters of control law and the number of agents in the swarm. The radius of circular formation differs from estimates given by the nonlinear bifurcation analysis of steering potential and lower energy stable formation rings can be achieved with an increase in the number of agents. Finally, detailed simulation results validate the observed effects of the interaction between steering and repulsive potentials.","PeriodicalId":382373,"journal":{"name":"2021 Seventh Indian Control Conference (ICC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 Seventh Indian Control Conference (ICC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICC54714.2021.9703153","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

Abstract

Unmanned Aerial Vehicle (UAV) swarms show great advantages in many applications such as surveillance, reconnaissance, and exploration because of the reduced computational expense, robustness, and less complexity. Artificial potential field (APF) is one such decentralized control strategy that steers UAV through steering and repulsive potential fields to achieve a formation. This paper extends to the previous research of the use of bifurcating APFs for swarm formation control by studying the unaccounted effects of repulsive potentials on the equilibrium states of the swarm system. Two prominent effects are observed, both of which are tied to the parameters of control law and the number of agents in the swarm. The radius of circular formation differs from estimates given by the nonlinear bifurcation analysis of steering potential and lower energy stable formation rings can be achieved with an increase in the number of agents. Finally, detailed simulation results validate the observed effects of the interaction between steering and repulsive potentials.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
转向和斥力相互作用对无人机群编队平衡的影响
无人机(UAV)蜂群以其较低的计算成本、鲁棒性和较低的复杂性在监视、侦察和探索等许多应用中显示出巨大的优势。人工势场(Artificial potential field, APF)就是这样一种分散控制策略,它通过转向和斥力势场来操纵无人机实现编队。本文通过研究排斥力对群体系统平衡状态的未知影响,扩展了以往将分岔apf用于群体形成控制的研究。观察到两个显著的效应,这两个效应都与控制律参数和群体中agent的数量有关。随着智能体数量的增加,圆形地层半径不同于非线性转向势分岔分析所给出的估计值,可以获得较低能量的稳定地层环。最后,详细的仿真结果验证了所观察到的转向和斥力相互作用的影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Robust Control of Buck-Boost Converter using Second Order Sliding Modes Finite-Time Stability Analysis of a Distributed Microgrid Connected via Detail-Balanced Graph Improving network's transition cohesion by approximating strongly damped waves using delayed self reinforcement Nonlinear Spacecraft Attitude Control Design Using Modified Rodrigues Parameters Comparison of Deep Reinforcement Learning Techniques with Gradient based approach in Cooperative Control of Wind Farm
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1