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《Journal of Xi'an Jiaotong University》 2018-09
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Collision Avoidance of Unmanned Aerial Vehicle Formation Based on Consensus Control Algorithm

ZHANG Jialong;YAN Jianguo;ZHANG Pu;WANG Benchi;School of Automation,Northwestern Polytechnical University;College of Aeronautics Engineering,Air Force Engineering University;  
A collision avoidance control algorithm for multiple unmanned aerial vehicles(UAVs)based on bidirectional network connection structure is proposed,which can effectively avoid collision among UAVs and between UAVs and obstacles to realize collaborative formation flight and complete the mission.In order to avoid collisions,the proposed consensus algorithm and the"leader-follower"control strategy are combined into formation control to ensure the convergence of formation.Three UAVs constitute the triangular formation as the control object,where the leader flight path is taken as the expected path and the followers track the leader to maintain the triangle formation flight.Safe distances should be kept between the UAVs and between the obstacle and the follower which is closest to the obstacle.In the horizontal plane,the leader and followers should have the same forward speed and heading angle rate,while in the vertical direction,they keep the relative distance constant.This consensus collision avoidance algorithm for multiple UAVs is based on the artificial potential field method,and simulation experiment verifies its validity.
【Fund】: 国家自然科学基金资助项目(60974146 61473229)
【CateGory Index】: V279;V249
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