Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICAL.2008.4636116
Title: A leader-follower formation flight control scheme for UAV helicopters
Authors: Yun, B.
Chen, B.M. 
Lum, K.Y. 
Lee, T.H. 
Issue Date: 2008
Source: Yun, B.,Chen, B.M.,Lum, K.Y.,Lee, T.H. (2008). A leader-follower formation flight control scheme for UAV helicopters. Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 : 39-44. ScholarBank@NUS Repository. https://doi.org/10.1109/ICAL.2008.4636116
Abstract: In this paper, we present a control system design and a collision avoidance scheme for the formation flight of multiple UAV helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design. © 2008 IEEE.
Source Title: Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/51080
ISBN: 9781424425020
DOI: 10.1109/ICAL.2008.4636116
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