Obstacle Avoidance and Formation Regrouping for Follower UAV in Leader-Follower Formation

被引：0

作者：

Ma, Chenxiang ^{[1
]}

Li, Zhiqiang ^{[1
]}

Wang, Yuan ^{[1
]}

Liu, Xuancen ^{[2
]}

Zhao, Huanyu ^{[1
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Aeronaut & Astronaut, Chengdu, Sichuan, Peoples R China

[2] Natl Univ Def Technol, Coll Aerosp Sci & Engn, Changsha, Hunan, Peoples R China

来源：

2021 7TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR) | 2021年

关键词：

formation; formation regrouping; UAV; obstacle avoidance; position control;

D O I：

10.1109/ICCAR52225.2021.9463458

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Currently, multi UAVs formation is very hot. Since it can greatly increase task efficiency. UAV formation has many research points like trajectory optimization, formation holding, formation optimal configuration, formation switch, obstacle avoidance, and formation regrouping, etc. But in our paper, we mainly focus on follower UAV obstacle avoidance and formation regrouping. Firstly, we propose an obstacle avoidance algorithm which mainly used on follower UAV. Secondly, we introduced PX4's position controller which used for formation regrouping. To the end, we make some simulations to verify the obstacle avoidance strategy, PX4's position controller and UAV formation.

引用

页码：167 / 172

页数：6

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