Abstract
As a typical multi-agent formation, UAV formation is playing an increasingly powerful role in the civilian and military fields. Obstacle avoidance, as an important technology in controlling formation, determines the application prospects of UAVs. This paper studies the time-varying formation of UAVs with interactive topology to avoid obstacles, aiming to improve the ability of UAV formations to deal with complex environments while traveling. Firstly, a repulsive force field is reasonably introduced based on the existing control scheme, and an improved distributed time-varying formation control scheme based on artificial potential field is proposed. Then combined with the basic idea of model predictive control, an obstacle avoidance strategy in which UAV obstacle avoidance and formation shaping are carried out simultaneously is proposed. Finally, a time-varying formation simulation experiment containing four UAVs was carried out to verify the validity of the results.
Formation Control of Multi Unmanned Aerial Vehicle Systems Based on DDS Middleware
