UAV rendezvous based on time-varying vector fields

UAV rendezvous based on time-varying vector fields

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UAV rendezvous is a necessary precondition for formation flight. Fixed-wing rendezvous is complex by nature because of its velocity constraints and uncertainties during flight. This Letter presents a rendezvous method for fixed-wing UAVs, in which velocity tuning and online trajectory adjustment are combined. Time-varying vector fields are designed to adjust the trajectories according to the estimated flight time, therefore the UAVs can reach the rendezvous position at the same time. This method can be applied in real time without complex communication topology. It is verified by the non-linear mathematical model of a fixed-wing UAV, and the simulated results confirm that it works effectively.


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