基于群集行为的分布式多无人机编队动态避障控制

针对无人机编队保持和动态障碍物规避控制问题,本文提出了一种新的基于群集行为的分布式多无人机编队控制和避障控制算法.首先考虑了由机间气流等因素带来的干扰,基于吸引/排斥势场和一致性方法,设计了分布式无人机编队的队形保持控制算法,对编队内无人机之间的距离进行控制.进一步考虑外部移动障碍对无人机编队的影响,引入了排斥势场产生...

Distributed formation control for multiple unmanned aerial vehicles with dynamic obstacle avoidance based on the flocking behavior

This paper presents a new distributed formation control strategy based on the flocking behavior for formation holding and dynamic obstacle avoiding control of unmanned aerial vehicles (UAVs). Firstly, considering the disturbance caused by the airflow between the UAVs, a distributed multiple UAVs formation holding controller is developed based on the attraction/repulsion potential field and consensus method, which ensures the formation maintainance between the UAVs. Secondly, considering the effects of external moving obstacles, the repulsive potential field is introduced to generate obstacle avoidance strategy for UAVs, and control the UAVs to avoid moving obstacles. Thirdly, by using the Lyapunov based stability analysis, the ultimate boundedness of system state errors and the stability of closed-loop system are proved. Finally, the indoor real-time experimental verification are performed on the multiple quadrotor UAVs testbed. Experimental results show that the proposed distributed flocking formation obstacle avoidance control strategy can effectively avoid external moving obstacles and is able to reconstruct the UAVs formation after obstacle avoidance.