UAV formation control design with obstacle avoidance in dynamic three-dimensional environment

作者：Chang, Kai; Xia, Yuanqing^*; Huang, Kaoli

来源：SpringerPlus, 2016, 5(1): 1124.

DOI：10.1186/s40064-016-2476-y

• Trajectory
• Formation control
• Assignment
• Collision avoidance

This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method.

• 出版日期2016-7-19
• 单位北京理工大学