This paper considers the artificial potential field method combined with rotational\nvectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking\na moving target in dynamic three-dimensional environment. An attractive potential\nfield is generated between the leader and the target. It drives the leader to track the\ntarget based on the relative position of them. The other UAVs in the formation are\ncontrolled to follow the leader by the attractive control force. The repulsive force affects\namong the UAVs to avoid collisions and distribute the UAVs evenly on the spherical\nsurface whose center is the leader-UAV. Specific orders or positions of the UAVs are not\nrequired. The trajectories of avoidance obstacle can be obtained through two kinds of\npotential field with rotation vectors. Every UAV can choose the optimal trajectory to\navoid the obstacle and reconfigure the formation after passing the obstacle. Simulations\nstudy on UAV are presented to demonstrate the effectiveness of proposed\nmethod.
Loading....