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- Title
基于群集行为的分布式多无人机编队动态避障控制.
- Authors
费思远; 鲜 斌; 王 岭
- Abstract
This paper presents a new distributed formation control strategy based on the flocking behavior for formation holding and dynamic obstacle avoiding control of unmanned aerial vehicles (UAVs). Firstly, considering the disturbance caused by the airflow between the UAVs, a distributed multiple UAVs formation holding controller is developed based on the attraction/repulsion potential field and consensus method, which ensures the formation maintainance between the UAVs. Secondly, considering the effects of external moving obstacles, the repulsive potential field is introduced to generate obstacle avoidance strategy for UAVs, and control the UAVs to avoid moving obstacles. Thirdly, by using the Lyapunov based stability analysis, the ultimate boundedness of system state errors and the stability of closed-loop system are proved. Finally, the indoor real-time experimental verification are performed on the multiple quadrotor UAVs testbed. Experimental results show that the proposed distributed flocking formation obstacle avoidance control strategy can effectively avoid external moving obstacles and is able to reconstruct the UAVs formation after obstacle avoidance.
- Subjects
LYAPUNOV stability; CLOSED loop systems; AIR flow; OBSTACLE avoidance (Robotics); DRONE aircraft; DYNAMIC positioning systems
- Publication
Control Theory & Applications / Kongzhi Lilun Yu Yinyong, 2022, Vol 39, Issue 1, p1
- ISSN
1000-8152
- Publication type
Article
- DOI
10.7641/CTA.2021.10082