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.
关键词
多无人机/时变网络/分布式编队/人工势场/避障控制
Key words
multiple UAVs/time-varying communication network/distributed formation/artificial potential field/obstacle avoidance control
维普
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