Improved Potential Field Method for Multi-UAV Collision Avoidance Control
In response to the problem of inter-UAV collision avoidance and obstacle avoidance during the flight of multiple unmanned aerial vehicles(UAVs),an improved potential field method for multi-UAV collision a-voidance control was proposed.This method established a collision avoidance potential field model for UAVs,introduced virtual forces and consensus control strategies into the control law to address the inter-UAV collision avoidance issue under loose formation constraints;then,an obstacle avoidance method based on the rotational potential field was adopted,and a multi-UAV collaborative overall avoidance strategy was designed.Finally,a virtual force-based path tracking strategy was utilized to track the flight route.Simulation results demonstrated that the method proposed in this paper enabled multiple UAVs to effectively avoid collisions and obstacles and return to the pre-planned flight route.
multi-uavsartificial potential field methodinter-uav collision avoidancevirtual forcespath tracking
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