Intelligent collaborative control of UAV swarms with collision avoidance safety constraints

被引：0

作者：

Cai Y. ^{[1
]}

Zhou D. ^{[1
]}

Ding J. ^{[1
]}

机构：

[1] AVIC Shenyang Aircraft Design & Research Institute, Shenyang

来源：

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2024年 / 45卷 / 05期

关键词：

collaborative control; collision avoidance strategy; deep reinforcement learning; safety constraint; UAV swarm;

D O I：

10.7527/S1000-6893.2023.29683

中图分类号：

学科分类号：

摘要：

An intelligent cooperative control method for Unmanned Aerial Vehicle（UAV）swarms combining Deep Reinforcement Learning（DRL）and the collision avoidance strategy is proposed. First，the problem of UAV swarm control is described，and a motion model of the UAV is established. Secondly，under the framework of deep reinforcement learning，the training mechanism of the UAV swarm control strategy is established. By analyzing the observation space and action space of the UAV，the network structure of the UAV swarm control strategy is designed. The reward function is designed with the safety，tightness and consistency of the UAV swarm as the main goal. To solve the problem of lack of safety guarantee in the DRL method，the collision avoidance strategy of the UAV swarm is designed at the same time，and the collision avoidance commands can be calculated according to the relative motion states between UAVs and between UAVs and threat areas to avoid UAVs collision. The simulation results show that the proposed control method can effectively avoid the risk of collision between UAVs，guarantee the safety of the UAV swarm，and make the UAV swarm more compact. © 2024 Chinese Society of Astronautics. All rights reserved.

引用

共 24 条

[1] LIU B J, GUO Y，, Et al., Fault-tolerant containment control for precise formation of UAVs with input saturation［J］, Acta Aeronautica et Astronautica Sinica, 44, 9, (2023)
[2] LIU S G, WANG H，, Et al., New progress of cooperative control technology of UAV cluster abroad［J］, Aerodynamic Missile Journal, 8, pp. 24-31, (2021)
[3] WU J H, LI D Y., A review of UAV cluster formation control methods［J］, Radio Communications Technology, 49, 4, pp. 589-596, (2023)
[4] ALI Z A, Et al., A leader-follower formation control of multi-UAVs via an adaptive hybrid controller［J］, Complexity, 2021, pp. 1-16, (2021)
[5] CHEN Q Y, WANG Y J, LU Y F., Formation control for UAVs based on the virtual structure idea and nonlinear guidance logic, 2021 6th International Conference on Automation，Control and Robotics Engineering （CACRE）, pp. 135-139, (2021)
[6] WU Y, LIANG T J., Improved consensus-based algorithm for unmanned aerial vehicle formation control［J］, Acta Aeronautica et Astronautica Sinica, 41, 9, (2020)
[7] WANG J, DOU L Y., Leader-Follower formation control of multiple UAVs with trajectory tracking design［J］, Acta Aeronautica et Astronautica Sinica, 41, S1, (2020)
[8] WANG X K, CHEN H, ZHAO S L., Formation control of large-scale fixed-wing unmanned aerial vehicle swarms［J］, Control and Decision, 36, 9, pp. 2063-2073, (2021)
[9] BELO E M., Virtual structure formation flight control based on nonlinear MPC［C］, 2021 International Conference on Unmanned Aircraft Systems （ICUAS）, pp. 1383-1390, (2021)
[10] SHEN Y K, WEI C., Multi-UAV flocking control with individual properties inspired by bird behavior［J］, Aerospace Science and Technology, 130, (2022)

← 1 2 3 →