UAV Swarm Obstacle Avoidance Based on Visual Filed and Adaptive Radius
Aiming at the obstacle avoidance problem of large-scale UAV swarm tracking flight route,a swarm obstacle avoidance algorithm based on distributed model predictive control combined with visual field and adaptive obstacle avoidance radius is proposed.In the process of swarm flight,the UAV obtains the reference route information of the current moment according to its own position,and obtains the predicted trajectory of its neighbors through local information interaction.When encountering obstacles,the adaptive obstacle avoidance radius and field of view topology method are combined to effectively solve the problem that the internal safety distance cannot be maintained and some UAVs collide with obstacles during obstacle avoidance,the external obstacle avoidance and internal collision avoidance of swarm flight are realized.
UAV swarmobstacle avoidanceadaptive obstacle avoidance radiusfield of view topologydistributed model predictive control
万方数据
维普
