Enhanced Fixed-Time Collision-Free Elliptical Circumnavigation Coordination for UAVs

作者：Zewei Mei, Xingling Shao, 一平 山下, Jun Liu · 发表于：IEEE Transactions on Aerospace and Electronic Systems · 年份：2024 · DOI：10.1109/taes.2024.3374708 · 被引用次数：38 · 研究领域：Distributed Control Multi-Agent Systems、Robotic Path Planning Algorithms、Robotics and Sensor-Based Localization

In this paper, a collision-free elliptical target encircling coordination with an improved convergence is constructed for a colony of unmanned aerial vehicles (UAVs). Firstly, an enhanced fixed-time enclosing guidance rule is elaborated that propels UAV to reach the user-defined elliptical path within an explicit time limit free from initial state choices, where a skillfully devised radial error feedback featured with a power term switching between a fractional exponent and a polynomial item is incorporated to enable a faster decaying, and a simple filtering-based unknown system dynamics estimator (USDE) is employed to precisely accommodate the undesired wind uncertainty in a computationally efficient manner. Secondly, to empower0000-0000 © 2022 IEEEUAVs with the capability of enclosing coordination and collision elimination with UAV members and static obstacles, a collaborative elliptical encircling protocol is derived by enforcing the consensus of proximal arc length error, releasing the unavoidable acceleration and deceleration occurring in prevailing equiphase-based circular enclosing coordination. Additionally, an orthogonal vector field is devised to strike a better balance between collision avoidance subtask and enclosing subtask. The convergence of enclosing system is analyzed to be uniformly ultimately bounded. Simulations are conducted to evaluate the utility and superiority.