An obstacle avoidance of formation method for UAVs
Wei Zhou, Ruixuan Wei, Yingjie Wang, Zhixing Dong · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
For the flight formation problem under the danger mode, a method based on the control architecture and decomposition strategy for obstacle avoidance of formation is proposed. Constructing and searching a Voronoi diagram, the reference flight paths for choice are generated based on K shortest path algorithm, then the cooperative function is established, the collision avoidance path is designed for each UAV, which meets both the request of cooperative time and optimal (or second optimal) cost of the whole formation.