Academic literature on the topic 'Rigid Formation Flight'
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Journal articles on the topic "Rigid Formation Flight"
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Gong, Zheng, Zan Zhou, Zian Wang, Quanhui Lv, Jinfa Xu, and Yunpeng Jiang. "Coordinated Formation Guidance Law for Fixed-Wing UAVs Based on Missile Parallel Approach Method." Aerospace 9, no. 5 (May 18, 2022): 272. http://dx.doi.org/10.3390/aerospace9050272.
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This paper presents a classic missile-type parallel-approach guidance law for fixed-wing UAVs in coordinated formation flight. The key idea of the proposed guidance law is to drive each follower to follow the virtual target point. Considering the turning ability of each follower, the formation form adopts the semi-perfect rigid form, which does not require the vehicle positions form a rigid formation, and the orientations keep consensus. According to the mission characteristics of the follower following a leader and the leader following a route, three guidance laws for straight, turning, and circling flight are designed. A series of experiments demonstrate the proposed guidance law’s improved response and maneuvering stability. The results of hardware-in-the-loop simulations and real flight tests prove that the proposed guidance law satisfies the practical UAV formation flight control demands.
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Billingsley, Ethan, Mehdi Ghommem, Rui Vasconcellos, and Abdessattar Abdelkefi. "Role of Active Morphing in the Aerodynamic Performance of Flapping Wings in Formation Flight." Drones 5, no. 3 (September 6, 2021): 90. http://dx.doi.org/10.3390/drones5030090.
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Migratory birds have the ability to save energy during flight by arranging themselves in a V-formation. This arrangement enables an increase in the overall efficiency of the group because the wake vortices shed by each of the birds provide additional lift and thrust to every member. Therefore, the aerodynamic advantages of such a flight arrangement can be exploited in the design process of micro air vehicles. One significant difference when comparing the anatomy of birds to the design of most micro air vehicles is that bird wings are not completely rigid. Birds have the ability to actively morph their wings during the flapping cycle. Given these aspects of avian flight, the objective of this work is to incorporate active bending and torsion into multiple pairs of flapping wings arranged in a V-formation and to investigate their aerodynamic behavior using the unsteady vortex lattice method. To do so, the first two bending and torsional mode shapes of a cantilever beam are considered and the aerodynamic characteristics of morphed wings for a range of V-formation angles, while changing the group size in order to determine the optimal configuration that results in maximum propulsive efficiency, are examined. The aerodynamic simulator incorporating the prescribed morphing is qualitatively verified using experimental data taken from trained kestrel flights. The simulation results demonstrate that coupled bending and twisting of the first mode shape yields the highest propulsive efficiency over a range of formation angles. Furthermore, the optimal configuration in terms of propulsive efficiency is found to be a five-body V-formation incorporating coupled bending and twisting of the first mode at a formation angle of 140 degrees. These results indicate the potential improvement in the aerodynamic performance of the formation flight when introducing active morphing and bioinspiration.
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Andrievsky, Boris, Alexander M. Popov, Ilya Kostin, and Julia Fadeeva. "Modeling and Control of Satellite Formations: A Survey." Automation 3, no. 3 (September 19, 2022): 511–44. http://dx.doi.org/10.3390/automation3030026.
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This survey deals with the problem of the group motion of spacecraft, which is rapidly developing and relevant for many applications, in terms of developing the onboard control algorithms to ensure the fulfillment of a given mission. The paper provides a comprehensive overview of spacecraft formation flight control. The bibliography is divided into three main sections: the multiple-input–multiple-output approach, in which the formation is treated as a single entity with multiple inputs and multiple outputs; the leader–follower formation, in which individual spacecraft controllers are linked hierarchically; and a virtual structure formation, in which spacecraft are treated as rigid bodies embedded in a common virtual rigid body. This survey expands a 2004 survey and updates it with recent results.
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Köthe, Alexander, and Robert Luckner. "Applying Eigenstructure Assignment to Inner-Loop Flight Control Laws for a Multibody Aircraft." CEAS Aeronautical Journal 13, no. 1 (December 21, 2021): 33–43. http://dx.doi.org/10.1007/s13272-021-00549-z.
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AbstractUnmanned aircraft used as high-altitude platform system has been studied in research and industry as alternative technologies to satellites. Regarding actual operation and flight performance of such systems, multibody aircraft seems to be a promising aircraft configuration. In terms of flight dynamics, this aircraft strongly differs from classical rigid-body and flexible aircraft, because a strong interference between flight mechanic and formation modes occurs. For unmanned operation in the stratosphere, flight control laws are required. While control theory generally provides a number of approaches, the specific flight physics characteristics can be only partially considered. This paper addresses a flight control law approach based on a physically exact target model of the multibody aircraft dynamics rather than conventionally considering the system dynamics only. In the target model, hypothetical spring and damping elements at the joints are included into the equations of motion to transfer the configuration of a highly flexible multibody aircraft into one similar to a classical rigid-body aircraft. The differences between both types of aircraft are reflected in the eigenvalues and eigenvectors. Using the eigenstructure assignment, the desired damping and stiffness are established by the inner-loop flight control law. In contrast to other methods, this procedure allows a straightforward control law design for a multibody aircraft based on a physical reference model.
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Zhang, Jingyu, Zhen Liu, and Guangjun Zhang. "Pose Measurement for Unmanned Aerial Vehicle Based on Rigid Skeleton." Applied Sciences 11, no. 4 (February 3, 2021): 1373. http://dx.doi.org/10.3390/app11041373.
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Pose measurement is a necessary technology for UAV navigation. Accurate pose measurement is the most important guarantee for a UAV stable flight. UAV pose measurement methods mostly use image matching with aircraft models or 2D points corresponding with 3D points. These methods will lead to pose measurement errors due to inaccurate contour and key feature point extraction. In order to solve these problems, a pose measurement method based on the structural characteristics of aircraft rigid skeleton is proposed in this paper. The depth information is introduced to guide and label the 2D feature points to eliminate the feature mismatch and segment the region. The space points obtained from the marked feature points fit the space linear equation of the rigid skeleton, and the UAV attitude is calculated by combining with the geometric model. This method does not need cooperative identification of the aircraft model, and can stably measure the position and attitude of short-range UAV in various environments. The effectiveness and reliability of the proposed method are verified by experiments on a visual simulation platform. The method proposed can prevent aircraft collision and ensure the safety of UAV navigation in autonomous refueling or formation flight.
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Arakane, Yasuyuki, Joseph Lomakin, Stevin H. Gehrke, Yasuaki Hiromasa, John M. Tomich, Subbaratnam Muthukrishnan, Richard W. Beeman, Karl J. Kramer, and Michael R. Kanost. "Formation of Rigid, Non-Flight Forewings (Elytra) of a Beetle Requires Two Major Cuticular Proteins." PLoS Genetics 8, no. 4 (April 26, 2012): e1002682. http://dx.doi.org/10.1371/journal.pgen.1002682.
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Zhang, Yixin, Xingjian Wang, Shaoping Wang, Wenhao Huang, and Qiwang Weng. "Kinematic and Aerodynamic Investigation of the Butterfly in Forward Free Flight for the Butterfly-Inspired Flapping Wing Air Vehicle." Applied Sciences 11, no. 6 (March 16, 2021): 2620. http://dx.doi.org/10.3390/app11062620.
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To ensure the stability of flight, the butterfly needs to flap its wings and simultaneously move its main body to achieve all kinds of flying motion, such as taking off, hovering, or reverse flight. The high-speed camera is used to record the swing of the abdomen, the movement of the wings, and the pitch angle of the body for butterflies during their free flight; the comprehensive biokinetic observations show that the butterfly’s wings and body are coupled in various flight states. The swing of the abdomen and the flap of the fore wing affect the pitch motion significantly. For theoretical analysis of the butterfly flight, a three-dimensional multi-rigid butterfly model based on real butterfly dimension is established, and the aerodynamic of the butterfly flight is simulated and analyzed via computational fluid dynamics methods to obtain an optimal kinematic model of butterfly forward flight. Moreover, the formation and development of three-dimensional vortex structures in the forward flight are also presented. The detailed structures of vortices and their dynamic behavior show that the wing’s flap and the abdominal swing play a key role in reorienting and correcting the “clap and peel” mechanism, and the force generation mechanisms are evaluated. The research indicates that longitudinal flight performance is mainly related to the kinematic parameters of the wing and body, and it can lead to the development of butterfly-inspired flapping wing air vehicles.
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Kownacki, Cezary. "Multi-UAV Flight using Virtual Structure Combined with Behavioral Approach." Acta Mechanica et Automatica 10, no. 2 (June 1, 2016): 92–99. http://dx.doi.org/10.1515/ama-2016-0015.
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Abstract Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.
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Rajabi, H., N. Ghoroubi, A. Darvizeh, E. Appel, and S. N. Gorb. "Effects of multiple vein microjoints on the mechanical behaviour of dragonfly wings: numerical modelling." Royal Society Open Science 3, no. 3 (March 2016): 150610. http://dx.doi.org/10.1098/rsos.150610.
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Dragonfly wings are known as biological composites with high morphological complexity. They mainly consist of a network of rigid veins and flexible membranes, and enable insects to perform various flight manoeuvres. Although several studies have been done on the aerodynamic performance of Odonata wings and the mechanisms involved in their deformations, little is known about the influence of vein joints on the passive deformability of the wings in flight. In this article, we present the first three-dimensional finite-element models of five different vein joint combinations observed in Odonata wings. The results from the analysis of the models subjected to uniform pressures on their dorsal and ventral surfaces indicate the influence of spike-associated vein joints on the dorsoventral asymmetry of wing deformation. Our study also supports the idea that a single vein joint may result in different angular deformations when it is surrounded by different joint types. The developed numerical models also enabled us to simulate the camber formation and stress distribution in the models. The computational data further provide deeper insights into the functional role of resilin patches and spikes in vein joint structures. This study might help to more realistically model the complex structure of insect wings in order to design more efficient bioinspired micro-air vehicles in future.
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Harbig, R. R., J. Sheridan, and M. C. Thompson. "Relationship between aerodynamic forces, flow structures and wing camber for rotating insect wing planforms." Journal of Fluid Mechanics 730 (July 30, 2013): 52–75. http://dx.doi.org/10.1017/jfm.2013.335.
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AbstractWing deformation is observed during the flight of some insect species; however, the effect of these distorted wing shapes on the leading edge vortex (LEV) is not well understood. In this study, we investigate the effect of one of these deformation parameters, (rigid) wing camber, on the flow structures and aerodynamic forces for insect-like wings, using a numerical model of an altered fruit fly wing revolving at a constant angular velocity. Both positive and negative camber was investigated at Reynolds numbers of 120 and 1500, along with the chordwise location of maximum camber. It was found that negatively cambered wings produce very similar LEV structures to non-cambered wings at both Reynolds numbers, but high positive camber resulted in the formation of multiple streamwise vortices at the higher Reynolds number, which disrupt the development of the main LEV. Despite this, positively cambered wings were found to produce higher lift to drag ratios than flat or negatively cambered wings. It was determined that a region of low pressure near the wing’s leading edge, combined with the curvature of the wing’s upper surface in this region, resulted in a vertical tilting of the net force vector for positively cambered wings, which explains how insects can benefit from wing camber.
Dissertations / Theses on the topic "Rigid Formation Flight"
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Challa, Vinay Reddy. "Analysis of Kinematic Constraints in Fixed-Wing UAV Formation Flying." Thesis, 2020. https://etd.iisc.ac.in/handle/2005/4694.
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Rise in autonomy has led to increase in usage of Unmanned Aerial Vehicles (UAVs) for various applications and has allowed the UAVs to perform complex and hazardous missions with ease. Formation of multiple UAVs finds applications in both military and civilian operations. Tasks like image mosaicking, mapping and target triangulation require multiple UAVs to maintain rigid formation while performing the mission.
While maneuvering, rigid formation flying requires different speeds and bank angles from individual UAVs. However, fixed-wing UAVs have operational limits on bank-angle and speed. Bank angle and speed requirements for each UAV in formation depend essentially on the formation geometry and the maneuver. Relating to the maneuver capability of formation and the formation geometric configuration, this thesis presents a detailed analytical investigation of kinematic operating points (speed and bank angle) of fixed-wing UAVs flying in rigid formation. Represented in its speed and turn radius space, leader maneuver region is deduced abiding by kinematic constraints of all UAVs in the formation. In addition, the thesis also considers the converse problem of feasible follower configuration assignment for a given leader maneuver. The analysis derives a feasible spatial region around the leader instantaneous position defined by distance and bearing angle limits.
Generating a given formation from arbitrary initial conditions and maintaining it presents another aspect in UAV formation flying. Addressing that the thesis considers a proportional-derivative control based guidance logics which command the follower heading and speed variation. Extensive validation studies are carried out using this guidance method providing insight into the dynamical nature of kinematic parameters as they vary in feasible and non-feasible formations.
Considering time varying leader maneuvers and the need for smooth transition in follower kinematic parameters, the thesis proposes a virtual target based guidance methodology. Therein, the follower pursues a virtual target constructed around the desired position with respect to the leader. The proposed logic is based on constraining the virtual target’s position as a function of leader’s turning rate along an instantaneous circle centred at desired follower position, and governing the follower speed and heading direction to follow the virtual target. Engagement scenarios consider a variety of time varying leader maneuvers and present smooth variation in follower parameters with negligible errors in maintaining the formation.
Book chapters on the topic "Rigid Formation Flight"
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Zhu, Y., and V. P. Shkodyrev. "Swarm Flight of UAV in Virtual Rigid Formation Using Olfati-Saber Algorithm." In Intelligent Communication Technologies and Virtual Mobile Networks, 849–63. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-1767-9_62.
Full textConference papers on the topic "Rigid Formation Flight"
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Udwadia, Firdaus, Aaron Schutte, and Try Lam. "Formation Flight of Multiple Rigid Body Spacecraft." In 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2007. http://dx.doi.org/10.2514/6.2007-2391.
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