Motion Planning of Multiple Fixed-Wing Unmanned Aerial Vehicles in 3 Dimension

This study provides solutions to motion planner for several fixed-wing unmanned aerial vehicles (UAVs) navigating a region while avoiding many spherical objects. This is done by adopting the architecture of the Lyapunov-based Control Scheme. The task is easily achieved using the “Minimum Distance Technique”, which allows UAVs to avoid obstacles by approaching them from the closest distance in each unit of time. A series of nonlinear acceleration-based controllers is suggested and designed to control the system’s motion to accomplish this goal. The controllers make sure the aircraft moves in a coordinated manner, achieving its pre-established goals and avoiding obstacles. The efficiency of the suggested nonlinear acceleration control rules is finally demonstrated, along with the simplicity and potency of the control method, using computer simulations of a virtual scenario resembling a roundabout. A conclusion and recommendations for further research conclude the paper.