A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance

Xiaowei Fu, Jing Pan, Haixiang Wang, Xiaoguang Gao

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

This paper studies the problem of formation maintenance and reconstruction of UAV swarm with obstacle avoidance. Firstly, a collision prediction mechanism is introduced to determine whether each UAV needs to avoid obstacles or not. Secondly, by designing the position and speed consistency control law between UAVs, each UAV and the virtual leader, combined with the obstacle avoidance mechanism based on the artificial potential field method, the swarm formation control and maintenance algorithm with obstacle avoidance is realized. Finally, the formation transformation is realized by changing the relative positional relationship between each UAV and the virtual leader. The simulation results show that the UAV swarm can generate, maintain and reconstruct the expected formation in a real-time distributed manner while avoiding obstacles.

Original languageEnglish
Title of host publication2019 Australian and New Zealand Control Conference, ANZCC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages205-209
Number of pages5
ISBN (Electronic)9781728117867
DOIs
StatePublished - Nov 2019
Event2019 Australian and New Zealand Control Conference, ANZCC 2019 - Auckland, New Zealand
Duration: 27 Nov 201929 Nov 2019

Publication series

Name2019 Australian and New Zealand Control Conference, ANZCC 2019

Conference

Conference2019 Australian and New Zealand Control Conference, ANZCC 2019
Country/TerritoryNew Zealand
CityAuckland
Period27/11/1929/11/19

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