A Dynamic Obstacle Avoidance Control Algorithm for Distributed Multi-UAV Formation System
Cheng Ma, Jinglei Li, Ying Shang, Shuai Zhang, Qinghai Yang · 2022 IEEE International Conference on Mechatronics and Automation (ICMA) · 2022
Multiple unmanned aerial vehicles (UAV) technology is widely used in military and civil fields, among which obstacle avoidance and formation are two important issues. An obstacle avoidance control algorithm that combines an improved artificial potential field (APF) algorithm and a consensus formation control algorithm is proposed in a distributed multi-UAV formation system. A velocity-based artificial potential field (VAPF) algorithm is proposed to avoid static and dynamic obstacles. The proposed algorithm considers the speed of the UAV and improves the attractive and repulsive potential field functions in traditional APF. With the VAPF, the local minimum and target unreachable problems in traditional APF can also be solved. The leader-follower method combined with the consensus formation control algorithm is adopted to form and maintain the formation. Simulation results show that our proposed algorithm helps multiple UAVs avoid static and dynamic obstacles while forming and maintaining a formation.