Research on Cooperative Obstacle Avoidance Control of UAV Formation Based on Improved Potential Field Method
Jiyang Dai, Yijun Sun, Ying Jin, Hang Nie · 2020
In order to solve the problems of self-collision, obstacle avoidance and formation communication architecture of UAVs, a distributed formation control strategy was proposed using the combination of graph theory and artificial potential field theory. Firstly, the UAV formation model of fixed undirected communication topology was established. For the issues that may occur such as deadlocks and formation safety, the segmented idea, rotation force and potential force between the machines were introduced to improve the force function of the potential field, which made the formation realize obstacle avoidance and trajectory pre-planning accurately. Secondly, the state error of UAV was corrected according to the consistency theory, and the formation cooperative obstacle avoidance control law was designed to achieve the desired state consistency and track planning. Finally, the convergence consistency of the proposed control algorithm was proved by constructing Hamilton function. The simulation results show that the UAV formation can avoid obstacles effectively and achieve the desired consistency quickly.