Research on Consensus of UAV Formation Trajectory Planning Based on Improved Potential Field
Ning Wang, Jiyang Dai, Ying Jin · 2021
Aiming at the problems of distributed formation trajectory planning of multiple unmanned aerial vehicles (multi-UAV) in 3D space, a consensus algorithm for distributed cooperative formation trajectory planning is proposed by combining improved artificial potential field (IAPF) and consensus theory. Firstly, the second-order system dynamic model of the UAV is established. Secondly, the attractive potential field function and the repulsive potential field function containing the distance term are defined, and the potential field function between the UAVs considering the influence of communication is designed to realize the control objectives of UAV collision avoidance, obstacle avoidance and smoothly reaching the target point. Then, a new consensus control protocol is designed by combining IAPF and consensus theory. UAVs can achieve convergence and consensus of relative distance and speed between the UAVs while maintaining the stability of the formation. Finally, the Lyapunov stability theory is used to prove the stability of the system, and simulations are carried out through the formation of four UAVs. The results show that this method can achieve the control objectives of collision avoidance, obstacle avoidance and the convergence of position and speed in the formation of trajectory planning.