自律航空機編隊の縦列から横列への最適フォーメーション変更アルゴリズム
An Optimal Algorithm for Changing from Longitudinal to Latitudinal Formation of Autonomous Aircraft Squadrons
自律航空機編隊が縦列から横列へと衝突なく効率的にフォーメーションを変更するアルゴリズムを提案し、その最適性と正しさを証明した。
著者: Paulo André Sperandio Giacomin, Elder Moreira Hemerly
分類: cs.RO
原文アブストラクト
This work presents an algorithm for changing from longitudinal to latitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation change is necessary when the squadron has to perform tasks demanding both formations, such as landing, lift-off, obstacle avoidance and georeferencing. The time complexity analysis of the transformation algorithm reveals that its efficiency is optimal. Simulations show that the formation change is done without collision, and the proof of correctness ensures its latitudinal formation features.