A cooperative obstacle avoidance control method for UAVs based on consistency theory
In order to solve the problems of excessive formation deformation and large velocity oscillation amplitude in the process of multi-unmanned aerial vehicle(UAVs)formation cooperative obstacle avoidance,a multi-UAV cooperative obstacle avoidance control method based on consistency theory was proposed.Firstly,according to the established UAV kinematics model and combined with the consistency theory,the uniform control law to maintain the formation was designed to improve the problem of excessive formation deformation during obstacle avoidance.Then the control contradiction formed when the artificial potential field method was integrated into the consistent control method was solved by optimizing the artificial potential field method model.Finally,the artificial potential field method was improved and integrated into the consistent control method,so as to improve the problem of large velocity oscillation amplitude during obstacle avoidance.Simulation experiments show that the propose method could better stabilize the formation,reduce the velocity oscillation amplitude,and shorten the convergence time when avoiding obstacles.The method was better than the comparison algorithm in many aspects.
unmanned aerial vehiclecooperative obstacle avoidanceconsistency theoryartificial potential field method
NETL
NSTL
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