Work

Research on multiple quadrotor UAV formation obstacle avoidance based on finite-time consensus

Year: 2024

Type: article

Abstract: Aiming at the problem of fast and consensus obstacle avoidance of multiple unmanned aerial systems in undirected network, a multi-quadrotor unmanned aerial vehicles UAVs (QUAVs) finite-time consensus obstacle avoidance algorithm is proposed. In this paper, multi-QUAVs establish communication through the leader-following method, and the formation is led by the leader to fly to the target position automatically and avoid obstacles autonomously through the improved artificial potential field method. The finite-time consensus protocol controls multi-QUAVs to form a desired formation quickly, considering the existence of communication and input delay, and rigorously proves the convergence of the proposed protocol. A trajectory segmentation strategy is added to the improved artificial potential field method to reduce trajectory loss and improve the task execution efficiency. The simulation results show that multi-QUAVs can be assembled to form the desired formation quickly, and the QUAV formation can avoid obstacles and maintain the formation unchanged while avoiding obstacles.

Source: The Aeronautical Journal

DOI: 10.1017/aer.2024.115

Authors: L. Zhang, R. Liu, B. Qu, T. Wei, X. Chai, L. Yan

Institutions: Zhongyuan University of Technology, Henan University of Engineering

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Natural Science Foundation of Henan Province, Recruitment Program of Global Experts

Awards: G1093100406, G7304115676, G8199861677