This paperMu, Shaoyang studies the leader-follower formationZhou, Pingfang control problem of unmanned air vehicles(UAVs) flying with dynamic constraints in an obstacle-laden environment. Firstly, formation protocols are presented for UAV swarm systems. Necessary and sufficient conditions for UAV swarm systems to achieve formations are presented based on graph theory. A formation tracking protocol is designed to drive the followers to track the leader. Then, an improved obstacle avoidance method based on potential field method is designed by combining with local rules considering dynamic constraints. The improved method can avoid potential field falling into local minimum and have good global searching ability. The stability of the presented approach is proved by using Lyapunov stability theory. Finally, numerical simulations are presented to demonstrate the effectiveness of the designed approach.
Formation Control and Obstacle/Collision Avoidance with Dynamic Constraints
Lect. Notes Electrical Eng.
International Conference on Aerospace System Science and Engineering ; 2019 ; Toronto, ON, Canada July 30, 2019 - August 01, 2019
Proceedings of the International Conference on Aerospace System Science and Engineering 2019 ; Chapter : 11 ; 147-162
2020-03-01
16 pages
Article/Chapter (Book)
Electronic Resource
English
Leader-follower formation , Consensus algorithm , Potential filed , Collision avoidance Physics , Space Sciences (including Extraterrestrial Physics, Space Exploration and Astronautics) , Aerospace Technology and Astronautics , Control and Systems Theory , Vibration, Dynamical Systems, Control , Engineering Design , Physics and Astronomy