无人机集群规避动态障碍物的分布式队形控制

doi:10.12305/j.issn.1001-506X.2022.02.22

Abstract

Abstract:

This paper studies the formation control of unmanned aerial vehicle (UAV) swarm with dynamic obstacle avoidance. Firstly, a collision prediction mechanism for dynamic obstacles is introduced to determine whether the swarm needs to avoid obstacles. Secondly, a repulsive force field is constructed between the dynamic obstacle and the UAV to avoid collision. Finally, according to the consensus theory, the cooperative control law is designed based on the position and speed consistency among UAV swarm and between each UAV and the virtual leader. Combining with the artificial potential field method, the formation generation and maintenance of UAV swarm with dynamic obstacle avoidance is achieved. The simulation results show that the UAV swarm can realize the generation, maintenance and reconstruction of the desired formation based on distributed control while avoiding dynamic obstacles.

Key words: unmanned aerial vehicle (UAV) swarm, formation control, dynamic obstacle, consensus theory, artificial potential field method

CLC Number:

V249
V279

Xiaowei FU, Jing PAN. Distributed formation control of UAV swarm with dynamic obstacle avoidance[J]. Systems Engineering and Electronics, 2022, 44(2): 529-537.

Figures/Tables 9

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References 31

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Distributed formation control of UAV swarm with dynamic obstacle avoidance

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