טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentSegal Shai
SubjectA Derivation of Guidance Laws for UAVs Formation
Flight
DepartmentDepartment of Aerospace Engineering
Supervisor Professor Yoseph Ben-Asher


Abstract

This thesis present a guidance based approach to formation flight of UAVs.

Most of the works related to formation flight deal with the control of the relative positions and consists of variation in the traditional leader/follower formation. A leader is chosen to direct the formation and all other airplanes are expected to maintain a fixed relative distance to the leading airplane. These works discuss the design of an autopilot for the follower, which controls its relative position. Different control approaches have been applied to solve the problem. The present work proposes a new guidance-based approach to formation flight of UAVs.

In the proposed approach a pursuit law replaces the control law. A new rule of pursuit denoted as Detective Deviated Pursuit is then developed based on tow known guidance rules.  The advantages of using the guidance approach in treatment of the formation flight problem are in a complete and deeper understanding of the kinematics of the aircraft taking part in the formation, which led to more general conclusions regarding the maneuvering limits of the formation and the conditions for its stability. The thesis shows that the Detective Deviated Pursuit rule can be applied to large formation, where the formation geometry is determined by the guidance law parameters. The work discusses the conditions for a stable formation flight in the case of a maneuvering leader and proposes a control scheme for implementation.  The performance of the new guidance based formation flight is evaluated via simulation of five F-16 fighters. The simulation demonstrates the simplicity of using the Detective Deviated Pursuit approach and exhibits good results even under maneuvering conditions.