Aiming at the problem of UAV swarm obstacle avoidance control under the switching topology, an obstacle avoidance method is designed which only needs a few UAVs to communicate with virtual leader UAV directly. First, the swarm is divided into alliances based on the distance between UAVs, then members within each alliance compete for becoming the navigation UAV with others based on the information concentration. Only the navigation UAV communicates with the virtual leader UAV directly. On this basis, an extra repulsive force that is perpendicular to the virtual leader UAV's trajectory is imposed on navigation UAVs of the swarm. The weighting factor of the attractive force of virtual leader UAV to navigation UAV is introduced, which is an adaptive factor related to the distance between the virtual leader UAV and the navigation UAV in the alliance. These strategies not only ensure the swarm can effectively avoid large obstacles, but also solve the local minima problem in traditional artificial potential field methods.
A Kind of Obstacle Avoidance Method for UAV Swarm
Lect. Notes Electrical Eng.
Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control ; Chapter : 26 ; 261-270
2022-07-29
10 pages
Article/Chapter (Book)
Electronic Resource
English
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