期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2013
卷号：47
期号：2
页码：653-659
出版社：Journal of Theoretical and Applied
摘要：A Multi-Agent System(MAS) consensus based algorithm is proposed for Multi-UAVs to maintain a specified time-varying geometric configuration for formation flight in 3-D space. Use decoupling characteristics in altitude control of Multi-UAVs, formation problem in 3-D space, was decomposed altitude control and plane control. In this approach, the proposed control strategy requires only the local neighbor-to-neighbor information between vehicles. Speed, heading angle. Then height synchronization is realized and the 3-D space formation flight can be achieved, and formation transform was investigated. The simulation results show that, this method has good robustness and scalability, simple calculation and a small amount of communication, and make the formation in 3-D space become easy to implement.
关键词：MAS; UAV; Consensus; Formation Flight; 3-D Space
