Collision-Free Maneuvering for a UAV Swarm Based on Parallel Control

The maneuvering of a large-scale unmanned aerial vehicle (UAV) swarm, notable for flexible flight with collision-free, is still challenging due to the significant number of UAVs and the compact configuration of the swarm. In light of this problem, a novel parallel control method that utilizes space and time transformation is proposed. First, the swarm is decomposed based on a grouping-hierarchical strategy, while the distinct flight roles are assigned to each UAV. Then, to achieve the desired configuration (DCF) in the real world, a bijection transformation is conducted in the space domain, converting an arbitrarily general configuration (GCF) into a standard configuration (SCF) in the virtual space. Further, to improve the flexibility of the swarm, the time scaling transformation is adopted in the time domain, which ensures the desired prescribed-time convergence of the swarm independent of initial conditions. Finally, simulation results demonstrate that collision-free maneuvering, including formation changes and turning, can be effectively and rapidly achieved by the proposed parallel control method. Overall, this research contributes a viable solution for enhancing cooperation among large-scale UAV swarms.