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Dubins Path Planning and Formation Controller Design for UAV Formation
Author(s): 
Pages: 87-90
Year: Issue:  9
Journal: Ordnance Industry Automation

Keyword:  无人机编队任务Dubins航路控制器六自由度仿真;
Abstract: 为完成无人机编队任务并解决无人机在飞行中因干扰而造成编队任务失败的问题,设计一种无人机编队任务的Dubins航路规划算法及控制器.根据无人机编队同时到达集结点的时间一致性要求,利用解析几何方法进行航路设计,通过分析无人机飞行状态,设计了能够进行速度调整的控制器,并使用六自由度无人机模型验证了航路算法及控制器的性能.仿真结果表明:该航路算法能够解算出各种编队任务的飞行航路,在控制器作用下能够很好地完成编队任务.
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