Formation and Conical Obstacle Avoidance Control of UAS Based on Two-hop Network

Aiming at the formation control problem of Unmanned Aerial System (UAS) with fixed communication network topology, we present a fast formation and obstacle avoidance control algorithm for UAS with conical obstacles in this paper. On the basis of traditional consensus protocol, the concept of two-hop network is introduced in this paper, which enhances the communication network connectivity of UAS and realizes rapid formation of UAS. At the same time, the conization of hill obstacles is processed to calculate the shortest path from the β -agent at the intersection of plane of UAV and conical obstacle to the farthest generatrix, so as to guide UAV to avoid obstacles. And in order to adapt to the real performance parameters of UAVs, a new coefficient function is designed on the basis of the original artificial potential function. Combining with the two-hop network, the rapid formation and obstacle avoidance of UAS in three-dimensional case are realized. Finally, simulation results are provided to demonstrate the effectiveness of our proposed methods.