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.


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    Title :

    Unmanned Aerial Vehicle Formation and Obstacle Avoidance Based on Birds Flocking and Anti-predation Behavior


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Zhang, Tianjie (author) / Tian, Zhenpo (author) / Liu, Yuecheng (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-08


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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