Abstract
In order to solve multiple unmanned aerial vehicle (UAV) dynamic collision avoidance, a cooperative obstacle avoidance algorithm considering UAV’s kinematic constraints has been developed. In the proposed algorithm, the useful information of UAVs is screened out by a Heartbeat information filtering mechanism and fused by the user datagram protocol (UDP) communication method, which improves communication performance among UAVs. In addition, the velocity obstacle (VO) method combined with cubic uniform B-spline curve is used to avoid obstacles and generate smooth paths, which can be applied to practical scenes. Finally, dynamic and static obstacle avoidance simulations are carried out to verify the effectiveness of the proposed algorithm.
Highlights
Based on the above factors, this paper proposes a feasible cooperative obstacle avoidance scheme for multi-unmanned aerial vehicle (UAV)
We propose a screening mechanism of UAV Heartbeat information, which can effectively avoid the interference of timeout signal and long-distance communication to UAV’s obstacle avoidance performance, improve the stability of obstacle avoidance and reduce communication volume
Due to the decline of long-distance communication or network quality, UAVs may not receive long-distance Heartbeat information, resulting in information loss, or the received signal times out and becomes useless signal, which greatly affects the obstacle avoidance performance of the UAV group. To solve these problems and ensure the real-time and accuracy of communication between UAVs, we proposed a HB information filtering mechanism (HIFM) to screen the Heartbeat signals broadcast by UAVs
Summary
Due to the limitations of realistic environments and the constraints of UAV itself, many of the existing methods have a large amount of calculation and are not suitable for reactive collision avoidance of multi-vehicle systems [11]. Based on the above factors, this paper proposes a feasible cooperative obstacle avoidance scheme for multi-UAV. A Spline_VO method is used to realize cooperative obstacle avoidance for multiple UAVs and generate smooth flight path for each. We present a feasible obstacle avoidance scheme, which can help UAV group to avoid dynamic and static obstacles smoothly and generate smooth flight path. The problems such as easy to fall into local optimization, communication redundancy and kinematics constraint of UAV are solved.
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