Distributed Finite Time Formation Control and Obstacle Avoidance for UAV Swarms
Liwen He, Ruigang Xiao, Gao Bixiang, Wenke Huang · 2024
The flight formation of UAV swarms will be seriously affected by the obstacles in the flight environment. Aiming at the problem of flight formation maintenance and obstacle avoidance control, the distributed finite time formation control protocol and obstacle avoidance control protocol are designed in this paper. First of all, in the process of UAV swarms movement, each UAV only needs to adjust the relative position with the adjacent follower UAV and leader UAV to maintain formation. Therefore, on the basis of obtaining the relative state information between adjacent UAVs, a finite time formation control protocol based on terminal sliding mode is proposed. In this control protocol, an adaptive robust term is introduced to suppress the influence of disturbance on the formation system, and the stability analysis and proof of formation system under this control protocol are given. Secondly, based on the improved artificial potential field algorithm, the obstacle avoidance control protocol is designed, and the formation control protocol and obstacle avoidance control protocol are weighted to prevent the UAV swarms from being unable to form a given formation or avoid obstacles. Finally, the effectiveness of formation control protocol and obstacle avoidance control protocol is verified by mathematical simulation.