固定翼无人机编队飞行的分布式振荡引导
Distributed Oscillatory Guidance for Formation Flight of Fixed-Wing Drones
AI总结：
针对固定翼无人机速度受限下的编队飞行问题，提出一种无需速度驱动的分布式振荡引导算法，通过叠加振荡控制平均速度并利用非负非对称饱和函数实现一致性协调，经仿真与实飞验证。
摘要：
当协调需要对固定翼无人机的速度进行驱动时，自主编队飞行是困难的，因为它们的速度受到严格限制，且飞行器大多被设计为以标称空速飞行。本文提出了一种无需对速度进行任何驱动即可实现固定翼无人机编队飞行的算法。具体而言，我们引导所有无人机沿特定路径飞行，例如平行直线，并在引导向量场上叠加一种振荡行为，该向量场将无人机驱动到这些路径上。这种振荡使得能够控制沿路径的平均速度，从而促进无人机之间的协调。每架无人机通过在一个无向连通图中与相邻智能体通信，以闭环方式分布式地调整其振荡幅度。引入了一种新颖的一致性算法，该算法利用了一个非负的非对称饱和函数。这种非常规饱和是合理的，因为负幅度不会使无人机向后飞行或沿路径具有负速度。对该算法的严格理论分析通过数值仿真和一次真实世界的编队飞行进行了验证。
英文摘要：
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes an algorithm to achieve formation flights of fixed-wing drones without requiring any actuation over their speed. In particular, we guide all the drones to travel over specific paths, e.g., parallel straight lines, and we superpose an oscillatory behavior onto the guiding vector field that drives the drones to the paths. This oscillation enables control over the average velocity along the path, thereby facilitating inter-drone coordination. Each drone adjusts its oscillation amplitude distributively in a closed-loop manner by communicating with neighboring agents in an undirected and connected graph. A novel consensus algorithm is introduced, leveraging a non-negative, asymmetric saturation function. This unconventional saturation is justified since negative amplitudes do not make drones travel backward or have a negative velocity along the path. Rigorous theoretical analysis of the algorithm is complemented by validation through numerical simulations and a real-world formation flight.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
