IEEE - Aerospace and Electronic Systems - May 2020 - 39

Monje et al.

Figure 3.

W raised to different values. (a) W raised to 32. (b) W raised to 14.

Besides, since the method guarantees feasible paths
without the need to implicitly include the kinematic models into the algorithm, the computational cost is reduced
considerably, allowing this algorithm to be executed even
in real time for dynamic environments. This characteristic
will be explored in future research.

UAVS FORMATION APPROACH
UAVS FORMATION APPROACH
This section presents the approach to create a formation
composed of three UAVs with triangular shape, which
operates in a 3-D open field environment. It also explains
how this formation is able to adapt to the environment,

deforming according to a fixed flight level with respect
to the ground. The algorithm used in this approach is an
adaptation of the FM2 path planner method described in
Gomez et al. The improvements included here are: 1) the
adaptation of the formation to a 3-D environment, and 2)
the imposition of a fixed flight level with respect to the
ground for the leader. As mentioned above, the formation
considered follows the leader-followers configuration. The
positions of each follower are determined with geometric
equations according to the leader's pose; that is, each position of the followers is found taking the position of the
leader as reference. These geometric relations are shown in
Figure 4, where v is the direction of the leader, u is the perpendicular to the direction, and the partial goals are the
next positions for each follower. In the following section, a
detailed description of our approach is presented.

Figure 4.
Behavior of the UAV formation algorithm. (a) Main components. (b) Triangular-shaped UAV formation. (c) Partial goals according to the
leader position. (d) Partial goals according to the obstacles of the environment.

MAY 2020

IEEE A&E SYSTEMS MAGAZINE

39



IEEE - Aerospace and Electronic Systems - May 2020

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