Engagement time constrained formation generation guidance following a non-manoeuvring leader

Suresh, S and Ratnoo, A (2020) Engagement time constrained formation generation guidance following a non-manoeuvring leader. In: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 234 (8). pp. 1414-1432.

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Abstract

This paper addresses the problem of formation generation of two UAVs with constraints on engagement time. A leader�follower scenario with the leader being non-manoeuvring is considered. The work uses track guidance method for generating a class of follower spatial paths and combines it with a speed profile that works to minimize the error with respect to the desired follower position. Path curvature analysis is carried out and set of feasible spatial paths which abide by the UAV turn rate constraint is obtained. The equilibrium point of the resulting nonlinear system is found to be the desired formation geometry and stability analysis using Lyapunov direct method guarantees convergence to the equilibrium point. The set of achievable engagement times is deduced with closed-form limits. Extensive simulation exercises are carried out incorporating follower speed limits, wind and vehicle dynamics, and presence of obstacles. The work highlights a flexible guidance method which effectively uses one design parameter and analytic conditions for formation generation. © IMechE 2020.

Item Type:	Journal Article
Publication:	Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Publisher:	SAGE Publications Ltd
Additional Information:	The copyright of this article belongs to SAGE Publications Ltd
Keywords:	Design parameters; Equilibrium point; Extensive simulations; Lyapunov direct method; Path curvature; Stability analysis; Time constraints; Vehicle dynamics, Unmanned aerial vehicles (UAV)
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	23 Jun 2020 07:19
Last Modified:	23 Jun 2020 07:19
URI:	http://eprints.iisc.ac.in/id/eprint/64991

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