TY - GEN
T1 - A formation maintenance and reconstruction method of UAV swarm based on distributed control with obstacle avoidance
AU - Fu, Xiaowei
AU - Pan, Jing
AU - Wang, Haixiang
AU - Gao, Xiaoguang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
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.
UR - http://www.scopus.com/inward/record.url?scp=85078744567&partnerID=8YFLogxK
U2 - 10.1109/ANZCC47194.2019.8945601
DO - 10.1109/ANZCC47194.2019.8945601
M3 - 会议稿件
AN - SCOPUS:85078744567
T3 - 2019 Australian and New Zealand Control Conference, ANZCC 2019
SP - 205
EP - 209
BT - 2019 Australian and New Zealand Control Conference, ANZCC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 Australian and New Zealand Control Conference, ANZCC 2019
Y2 - 27 November 2019 through 29 November 2019
ER -