Formation control of UAVs based on artificial potential field

The problem of UAVs’ formation control in the process of motion is investigated in this paper. A formation control method based on artificial potential field of UAVs is proposed, established on the collision avoidance, aggregation and speed matching rules of UAVs. First establish the UAVs’ kinetic model in accordance to the motion rules, then design the formation control algorithm based on artificial potential field function, which is used to control the formation during the movement of UAVs. Finally, the results of simulation experiment show that the proposed formation control method in this paper is effective and has the advantages of easy realization, good real-time performance and excellent robustness

Formation control of UAVs based on artificial potential field

The problem of UAVs’ formation control in the process of motion is investigated in this paper. A formation control method based on artificial potential field of UAVs is proposed, established on the collision avoidance, aggregation and speed matching rules of UAVs. First establish the UAVs’ kinetic model in accordance to the motion rules, then design the formation control algorithm based on artificial potential field function, which is used to control the formation during the movement of UAVs. Finally, the results of simulation experiment show that the proposed formation control method in this paper is effective and has the advantages of easy realization, good real-time performance and excellent robustness

Characteristics and Resource Recovery Strategies of Solid Waste in Sewerage Systems

Sewerage systems-related solid waste accumulates in considerable quantities in urban water systems, including rainwater drainage pipes, pumping stations, grease traps, grit chambers, and septic tanks. Traditional management methods, such as sanitary landfilling, incineration, and composting, not only endanger the environment but also consume a significant amount of land. To address this problem, a variety of waste was collected from a terminal and different facilities in sewerage systems, and the characteristics of solid waste were tested and analyzed. The corresponding appropriate approaches to resource recovery strategies were proposed in detail. The solid waste in the wastewater treatment plant (WWTP) contains low organic matter content and a certain quantity of heavy metals, making recycling difficult. Before the solid waste enters the WWTP, the strategy of pre-sorting, treating, and recycling the solid waste is worth recommending. The waste was divided into three categories based on its nature, and corresponding resource utilization strategies were proposed. A small part of solid waste that is not suitable for pre-recycling can be discharged normally and enter the WWTP for treatment. This paper provides a scientific basis for the green resource utilization of solid waste in the field of sewerage systems in developing countries