Formation Control of Unmanned Helicopters Moving Target Tracking Obstacle Avoidance and Maintenance Connectivity

This research addresses the control of unmanned helicopters, emphasizing formation control, target tracking, obstacle avoidance, and continuity maintenance. The study employs Terminal Sliding Mode Control (TSMC) to regulate the helicopters'' position and attitude, while a Generalized Predictive Control (GPC) strategy is utilized for formation control through a leader-follower approach. Obstacle avoidance is achieved using an Artificial Potential Field (APF) method. Simulation results indicate rapid convergence times of less than three seconds across six distinct missions, demonstrating the capability of the helicopters to navigate both static and dynamic obstacles while maintaining their formation. The initial three missions involve three helicopters organized in a triangular formation, successfully avoiding obstacles and maintaining continuity with an error rate below ۱%. The subsequent three missions, involving five helicopters in a pentagonal configuration, similarly illustrate effective navigation and dynamic target tracking. Notably, the leader helicopter consistently tracks both static and dynamic targets, ensuring the integrity of the formation. This study contributes to the field by exploring the complexities of multi-agent helicopter operations and obstacle traversal, highlighting the critical importance of maintaining connectivity and formation during dynamic scenarios. The findings underscore the effectiveness of the proposed control strategies, offering valuable insights for future applications in various sectors, including military and civilian domains.

کلیدواژه ها:

Unmanned Helicopter ، obstacle avoidance ، formation control ، Sliding mode control