Abstract
This paper presents a method for formation flight and collision avoidance of multiple UAVs. Due to the shortcomings such as collision avoidance caused by UAV’s high-speed and unstructured environments, this paper proposes a modified tentacle algorithm to ensure the high performance of collision avoidance. Different from the conventional tentacle algorithm which uses inverse derivation, the modified tentacle algorithm rapidly matches the radius of each tentacle and the steering command, ensuring that the data calculation problem in the conventional tentacle algorithm is solved. Meanwhile, both the speed sets and tentacles in one speed set are reduced and reconstructed so as to be applied to multiple UAVs. Instead of path iterative optimization, the paper selects the best tentacle to obtain the UAV collision avoidance path quickly. The simulation results show that the method presented in the paper effectively enhances the performance of flight formation and collision avoidance for multiple high-speed UAVs in unstructured environments.
Highlights
To control the formation flight of multiple unmanned air vehicles (UAVs) is a challenge as they are widely used for military and civil purposes [1,2]
In order to overcome the shortcomings of existing methods, this paper considers the manoeuver information of both UAV and aerial intruder and presents a collision decision-making method based on the proposed regions and the interfered fluid dynamical (IFD) algorithm
This paper proposes the modified tentacle algorithm for the formation flight and collision avoidance of multiple UAVs
Summary
To control the formation flight of multiple unmanned air vehicles (UAVs) is a challenge as they are widely used for military and civil purposes [1,2]. The local optimization scope generates an optimal flight trajectory with the objective function in response to a set of restrictions that reduces the solution space This collision avoidance manoeuver has such advantages as optimization with minimal cost, robustness that considers the global traffic condition, scalability that possesses explicit coordinates of waypoints and efficiency in implementing various tests of tuning parameters. [24] is only 60m/s, even much less according to quadrotor in other articles These conventional methods have difficulties in computing in real time the collision avoidance of multiple high-speed UAVs in unstructured environments. Propose the method for collision avoidance of multiple high-speed UAVs under unstructured environments. This paper proposes a method for multiple UAVs’ formation flight and collision avoidance based on the modified tentacle algorithm.
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