@inproceedings{fbbed5c61d0b4a9abeade9954d863697,
title = "UAV Formation and Obstacle Avoidance Based on Improved APF",
abstract = "This paper put forward a solution for fixed-wing UAV formation control and obstacles avoidance based on an improved artificial potential field method (APF) and leader-follower structure. First, simplified model of fixed-wing UAV with kinematic constraints is introduced. Subsequently an improved APF considering the kinematic constraints and formation configuration is proposed. Then, a formation transformation method based on improved APF is put forward to increase the flexibility and reliability of formation to avoid obstacles in environment, which means the feedback of obstacle information to formation controller. Finally, simulations of UAV formation, tracking the desired trajectory and obstacle avoidance is presented and the results verify the effectiveness of the improved APF method.",
keywords = "APF, UA V, formation, obstacle avoidance",
author = "Yunduo Feng and Yanxuan Wu and Haozhe Cao and Jiankun Sun",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 10th International Conference on Modelling, Identification and Control, ICMIC 2018 ; Conference date: 02-07-2018 Through 04-07-2018",
year = "2018",
month = nov,
day = "9",
doi = "10.1109/ICMIC.2018.8529987",
language = "English",
series = "10th International Conference on Modelling, Identification and Control, ICMIC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "10th International Conference on Modelling, Identification and Control, ICMIC 2018",
address = "United States",
}