UAV formation obstacle avoidance control method based on artificial potential field and consistency

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.

Obstacle Avoidance Control for Multisteering Mode of Multiaxle Wheeled Robot Based on Trajectory Prediction Strategy

A multiaxle wheeled robot is difficult to be controlled due to its long body and a large number of axles, especially for obstacle avoidance and steering in narrow space. To solve this problem, a multisteering mode control strategy based on front and rear virtual wheels is proposed, and the driving trajectory prediction of the multiaxle wheeled robot is analyzed. On this basis, an obstacle avoidance control strategy based on trajectory prediction is proposed. By calculating the relationship between the lidar points of the obstacle and the trajectory coverage area, the iterative calculation of the obstacle avoidance scheme for the proposed steering is carried out, and the feasible obstacle avoidance scheme is obtained. The mechanical structure, hardware, and software control system of a five-axle wheeled robot are designed. Finally, to verify the effectiveness of the obstacle avoidance strategy, a Z-shaped obstacle avoidance experiment was carried out. The results confirm the effectiveness of the proposed control strategy.