Formation control of multiple UAVs via pigeon inspired optimisation

Abstract

A distributed coordinated control is proposed for the group of UAVs to map the behaviour rule for the pigeon group. Moreover, on the basis of pigeon inspired optimisation (PIO), the UAV groups are clustered and synchronised through the coordinated control algorithm. To control the speed, direction of nth UAVs for the desired formation of flight are controlled by proportional integral (PI) and proportional integral differential (PID) controller. A high degree of convergence control method is presented to control the UAV groups at the same level of height during formation of flight. On the basis of pigeon flight obstacle avoidance, a method of UAV obstacle avoidance is designed, and a method of obstacle obstructing is also designed along with the improved artificial physical method. The proposed methodology provides obstacle avoidance for a group of UAV and overcome traditional physical methods, and can easily make the desired formation in which sudden obstacles lie in the way of formation through the arrow channel.