A motion planning algorithm is presented for formation control of coordinating multi agents engaged in rigid formation keeping and formation reconfiguration.
Within this framework, we design a modular decentralized supervisor in the path planner level of the UAVs to achieve two major goals: first, reaching the formation and second, keeping the formation.
with this architecture, we can complete a typical scenario of formation control of multi-UAV, which consists of formation reaching, formation keeping, collision avoidance and formation reconfiguration.
Then control law for formation keeping of satellite formation in LEO with small eccentricity reference orbit is designed, so the modeling error and disturbance is included.
This improved control strategy has been shown to be far less sensitive to the initial formation perturbations as well as capable of keeping the formation variables stable within the required band, all over the 10-year mission, through a low-thrust authority in the order of few milli-newtons.
The purpose of this paper is to analyse orbit selection with respect to the minimum fuel consumption, to provide a convenient way to estimate the fuel consumption for keeping nanosatellite formation flying and to present a simplified method of formation control.
This paper deals with keeping the formation of a group of mobile robots.
A coordinated control scheme based on the leader-follower approach is developed to achieve formation maneuvers while keeping the internal formation intact.
The paper demonstrates the possibility of extending the utilization range of the GPS-based navigation system to serve as sensor for formation acquisition and coarse formation keeping.
Different typical orbit maneuvers, including formation establishment, reconfiguration, long-distance maneuvers, and formation keeping, are taken as examples to demonstrate the performance of the proposed control laws.
