Distributed obstacle avoidance-formation control for multi-UAV system under time-varying communication network
For communication disconnection and collision during distributed autonomous formation of multiple UAVs,a distributed obstacle avoidance-formation method under the time-varying communication network is proposed.Firstly,to solve the signal blocking due to limited speed of information transmission and processing by communication equipment,a distributed formation controller with time-varying communication network is designed.Then defects of the traditional artificial potential field are analyzed,and the segmental regulation based artificial potential field is proposed.Furthermore,this work mainly studies the distributed obstacle avoidance-formation under the segmental regulation based artificial potential field and time-varying communication network.Finally,both effectiveness and accuracy of the proposed method are verified by simulation experiments.
multiple UAVstime-varying communication networkdistributed formationartificial potential fieldobstacle avoidance control
万方数据
维普
