Artificial Potential Field Based Distributed Cooperative Collision Avoidance for UAV Formation

被引：0
|
作者：
Qin, Tanghao [1 ]
Yu, Hao [1 ]
Lv, Yueyong [1 ]
Guo, Yanning [1 ]
机构：
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin, Peoples R China
来源：
PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2020年
关键词：
unmanned aerial vehicle formation; cooperative control; artificial potential function; collision avoidance;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper designs a distributed cooperative controller based on artificial potential function, which is used for communication maintenance, formation configuration and collision avoidance among unmanned aerial vehicles (UAVs). Firstly, the quaternion dynamics mathematical model of the single quadrotor UAV is established and the leader-follower formation method is selected to establish the UAVs distributed communication topology graph. Then, an artificial potential function formation cooperative controller is designed to complete the distributed communication maintenance, formation configuration and collision avoidance of four quadrotor UAVs. Finally, numerical simulation verifies the effectiveness of the designed controller.
引用
收藏
页码：897 / 902
页数：6
相关论文
共 50 条
  • [1] The UAV cooperative formation control design with collision avoidance based on improved artificial potential field
    Zhang, Jialong
    Yang, Jianguo
    Yuan, Dongli
    Hou, Xiaolei
    [J]. PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 6083 - 6088
  • [2] UAV formation collision avoidance control method based on improved artificial potential field
    Zhu X.
    Yan M.
    Zhang C.
    Lin H.
    Qu Y.
    [J]. Zhu, Xu (zhuxu_1987@sina.com), 1600, Editorial Board of Journal of Harbin Engineering (38): : 961 - 968
  • [3] A Modified Artificial Potential Field for UAV Collision Avoidance
    Srivastava, Astik
    Vasudevan, V. R.
    Harikesh
    Nallanthiga, Raghava
    Sujit, P. B.
    [J]. 2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS, 2023, : 499 - 506
  • [4] The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method
    Liu, Jian Ying
    Guo, Zi Qi
    Liu, Shi Yue
    [J]. MANUFACTURING ENGINEERING AND AUTOMATION II, PTS 1-3, 2012, 591-593 : 1400 - +
  • [5] Formation control of Multi-UAV with collision avoidance using artificial potential field
    Wang, Yifan
    Sun, Xingyan
    [J]. 2019 11TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC 2019), VOL 1, 2019, : 296 - 300
  • [6] Vision Based Cooperative Distributed Collision Avoidance Estimation in a Dynamic Environment for a Heterogeneous UAV Formation
    Mihai, Razvan-Viorel
    Vidan, Cristian
    Radu, Alexandru-Daniel
    Gavril, Alexandru
    [J]. INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS (ICNAAM-2018), 2019, 2116
  • [7] Dynamic collision avoidance for cooperative fixed-wing UAV swarm based on normalized artificial potential field optimization
    Liu Wei-heng
    Zheng Xin
    Deng Zhi-hong
    [J]. JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2021, 28 (10) : 3159 - 3172
  • [8] Fixed-Wing UAV Formation Control Design With Collision Avoidance Based on an Improved Artificial Potential Field
    Zhang, Jialong
    Yan, Jianguo
    Zhang, Pu
    [J]. IEEE ACCESS, 2018, 6 : 78342 - 78351
  • [9] Navigation information augmented artificial potential field algorithm for collision avoidance in UAV formation flight
    Liu H.
    Liu H.H.T.
    Chi C.
    Zhai Y.
    Zhan X.
    [J]. Aerospace Systems, 2020, 3 (3) : 229 - 241
  • [10] Collision Avoidance for Cooperative UAVs With Optimized Artificial Potential Field Algorithm
    Sun, Jiayi
    Tang, Jun
    Lao, Songyang
    [J]. IEEE ACCESS, 2017, 5 : 18382 - 18390
12345