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 Wilson, D. & Goktogan, A. |
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An unmanned aerial vehicle rendezvous and formation flight demonstration
Proceedings of the 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12) , Jun, 2012
Presented at 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12), Philadelphia, USA, 12 Jun. - 15 Jun. 2012
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Abstract
Unmanned Aerial Vehicle (UAV) rendezvous and formation flight are important stepping stones to critical future capabilities. Rendezvous is generally accomplished by either planning and following a trajectory or through pure pursuit based approaches. However, these strategies do not consider the subsequent formation flight and thus require additional guidance and control for this phase. This paper presents a nonlinear guidance for both rendezvous and loose formation flight. Flight tests demonstrated the implementation by performing 10 successful rendezvous between a leader and follower fixed wing UAV. Following rendezvous, the same algorithm was able to regulate the following distance to maintain loose formation.
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