This research investigates the swarm unmanned aerial vehicle (UAV) formation and obstacle avoidance problem. A linearized fixed-wing aircraft model is adopted equipped with autopilot. It involves a task for five UAVs to patrol along a square area, forming a loose formation where strict relative positioning is not required. Inspired by bird flocking behavior, a formation method is employed incorporating attraction, repulsion, alignment, regulation and side force. When a UAV approaches an obstacle, from the UAV's perspective, the obstacle moves towards it, resembling a hunting scenario where the hunter gradually closes in on its prey. Naturally, an anti-predation strategy is introduced to achieve obstacle avoidance for the UAVs. Relevant parameters are optimized and simulation results demonstrate the feasibility and effectiveness of the proposed approach in this work.
Unmanned Aerial Vehicle Formation and Obstacle Avoidance Based on Birds Flocking and Anti-predation Behavior
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
08.03.2025
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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