Optimal Consistency Control of UAVs Formation Obstacle Avoidance with Improved APF
Aiming at the shortcomings of traditional artificial potential field(APF)for solving obstacle a-voidance problems,such as local minimum value and unreachable target,an optimal consensus control method taking advantage of obstacle avoidance effect and combination with APF is proposed.Based on the double integrator UAVs formation model with fixed undirected communication topology,the optimal consen-sus control protocol with obstacle avoidance cost function is introduced to solve the limitation of APF obstacle avoidance.At the same time,the formation control of multiple UAVs is developed to make the consensus per-formance index,control consumption performance index and obstacle avoidance performance index of UAVs formation control system reach the optimal solution.In addition,by establishing a virtual repulsion poten-tial field for each UAVs,the collisions among the UAVs during the obstacle avoidance process are prevented.The simulation results show that compared with the non-optimal consistency control of the improved APF,the optimal consistency control of the improved APF proposed can shorten the task time by 32％and can greatly maintain the integrity of the formation and reduce the consistency consumption and control loss caused by obstacle avoidance.
UAVs formationCollaborative obstacle avoidanceArtificial potential fieldOptimal consen-sus control
万方数据
维普
