Safe Formation Control and Collision Avoidance for Multi-UAV Systems Using Barrier Lyapunov Function
Jiasheng Zhao, Liangsheng Zhong, Han Li, Zhiwei Hou · 2024
In the multiple unmanned aerial vehicles (multi-UAV) flight mission, static or dynamic obstacles in the environment and formation switching will make the multi-UAV system have collision risk. This paper studies the formation control and obstacle avoidance problems of multi-UAV systems. A novel distributed control algorithm for the multi-UAV system is proposed to track the desired position and velocity of the formation and avoid collisions. Barrier Lyapunov function (BLF) is used to ensure constraints so that the controller can avoid with static and dynamic obstacles. The stability of the multi-UAV system is guaranteed by means of the Lyapunov theory and all the signals in the closed-loop system are proved to be bounded. Simulation results validate the effectiveness of the proposed control algorithm.