Boids-Based Integration Algorithm for Formation Control and Obstacle Avoidance in Unmanned Aerial Vehicles
Jing Lu, Jiayi Zhao, Junda Niu · Machines · 2025
Unmanned Aerial Vehicles (UAVs), as widely used tools, can achieve better efficiency when integrated into a multi-UAV system than individual, dispersed units. Obstacle avoidance and formation control are fundamental requirements for such systems. The Boids algorithm, a biomimetic model suitable for swarming, serves as the foundation for this study. This paper proposes a novel integrated algorithm based on Boids that can be applied to multi-UAV systems for obstacle avoidance and formation control. The algorithm enables the multi-UAV system to automatically form formations, autonomously avoid obstacles, and recover formations rapidly. In this algorithm, each UAV functions as an agent within the system that is capable of independently collecting and sharing information. Each agent can make independent decisions to enter either the formation mode or the obstacle avoidance mode based on external environmental factors. The formation mode utilizes the virtual structure method to guide UAVs to their virtual formation positions. In the obstacle avoidance mode, the artificial potential field method is employed to ensure that each UAV maintains a safe distance from other UAVs that pose collision risks and various complex obstacles, regardless of their number. Simulation experiments were conducted on the Unity platform, varying the number of UAVs and the formation shapes. The results verified that the algorithm operates correctly, stably, and in a timely manner, demonstrating good performance.