Formation Adaption for Obstacle Avoidance and Environment Survey with
UAVs
- zhengqiang Xiong,
- chang Han,
- xiaoliang Wang
xiaoliang Wang
China Mobile Shanghai Industry Research Institute
Author ProfileAbstract
A formation adaption algorithm is proposed for obstacle avoidance and
environment survey in three dimension space. Firstly, singular value
feature of incidence matrix for feasible control graph is derived. Then,
an effective diameter has been proposed to characterize the dimension of
3D formations, and been estimated under various operations including
transition, rotation, scaling as well as inner motions. Finally, an
optimal scale factor is figured out for uniform scaling on the basis of
a similarity function. Numerical experiments demonstrate the
effectiveness and efficiency of the proposed algorithm.