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

Xiaowei Fu; Jing Pan; Haixiang Wang; Xiaoguang Gao

doi:10.1109/ANZCC47194.2019.8945601

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

Xiaowei Fu, Jing Pan, Haixiang Wang, Xiaoguang Gao

School of Electronics and Information

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2019 Australian and New Zealand Control Conference, ANZCC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	205-209
Number of pages	5
ISBN (Electronic)	9781728117867
DOIs	https://doi.org/10.1109/ANZCC47194.2019.8945601
State	Published - Nov 2019
Event	2019 Australian and New Zealand Control Conference, ANZCC 2019 - Auckland, New Zealand Duration: 27 Nov 2019 → 29 Nov 2019

Publication series

Name	2019 Australian and New Zealand Control Conference, ANZCC 2019

Conference

Conference	2019 Australian and New Zealand Control Conference, ANZCC 2019
Country/Territory	New Zealand
City	Auckland
Period	27/11/19 → 29/11/19

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10.1109/ANZCC47194.2019.8945601

Cite this

Fu, X., Pan, J., Wang, H., & Gao, X. (2019). A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance. In 2019 Australian and New Zealand Control Conference, ANZCC 2019 (pp. 205-209). Article 8945601 (2019 Australian and New Zealand Control Conference, ANZCC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ANZCC47194.2019.8945601

Fu, Xiaowei ; Pan, Jing ; Wang, Haixiang et al. / A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance. 2019 Australian and New Zealand Control Conference, ANZCC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 205-209 (2019 Australian and New Zealand Control Conference, ANZCC 2019).

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

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.",

author = "Xiaowei Fu and Jing Pan and Haixiang Wang and Xiaoguang Gao",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 Australian and New Zealand Control Conference, ANZCC 2019 ; Conference date: 27-11-2019 Through 29-11-2019",

year = "2019",

month = nov,

doi = "10.1109/ANZCC47194.2019.8945601",

language = "英语",

series = "2019 Australian and New Zealand Control Conference, ANZCC 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2019 Australian and New Zealand Control Conference, ANZCC 2019",

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Fu, X, Pan, J, Wang, H & Gao, X 2019, A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance. in 2019 Australian and New Zealand Control Conference, ANZCC 2019., 8945601, 2019 Australian and New Zealand Control Conference, ANZCC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 205-209, 2019 Australian and New Zealand Control Conference, ANZCC 2019, Auckland, New Zealand, 27/11/19. https://doi.org/10.1109/ANZCC47194.2019.8945601

A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance. / Fu, Xiaowei; Pan, Jing; Wang, Haixiang et al.
2019 Australian and New Zealand Control Conference, ANZCC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 205-209 8945601 (2019 Australian and New Zealand Control Conference, ANZCC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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PB - Institute of Electrical and Electronics Engineers Inc.

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Fu X, Pan J, Wang H, Gao X. A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance. In 2019 Australian and New Zealand Control Conference, ANZCC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 205-209. 8945601. (2019 Australian and New Zealand Control Conference, ANZCC 2019). doi: 10.1109/ANZCC47194.2019.8945601

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

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