A fast formation obstacle avoidance algorithm for clustered UAVs based on artificial potential field

被引:20
作者
Liu, Yunping [1 ,2 ]
Chen, Cheng [1 ,2 ]
Wang, Yan [1 ,2 ]
Zhang, Tingting [3 ]
Gong, Yiguang [1 ,2 ]
机构
[1] Nanjing Univ Informat Sci & Technol, Sch Automat, Nanjing 210044, Peoples R China
[2] Collaborat Innovat Ctr Atmospher Environm & Equipm, Sch Automat, Nanjing 210044, Peoples R China
[3] Army Engn Univ, Sch Command & Control Engn, Nanjing 210017, Peoples R China
基金
中国国家自然科学基金;
关键词
Auxiliary potential field; Finite time consistency; Artificial potential field; Formation; TIME; STABILITY;
D O I
10.1016/j.ast.2024.108974
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
The aim of this paper is to improve the rapid obstacle avoidance control of UAVs cluster in a complex obstacle environment, primarily utilizing the finite -time consistent formation control algorithm and the improved artificial potential field algorithm to design the fast obstacle avoidance control strategy. Firstly, a finite -time consistent formation control algorithm is adopted to address the problems of slow formation speed and low control accuracy of UAVs clusters for establishing the formation model and control of UAVs cluster. Then, taking static and dynamic obstacles as obstacle avoidance targets, the improved artificial potential field algorithm is utilized, and the auxiliary potential field and dynamic situation field range of obstacle velocity are also introduced. The algorithm enhances obstacle avoidance speed and efficiency from the two aspects: time optimization and space optimization. Meanwhile, dynamic perturbation is introduced to address the local minimum problem of traditional artificial potential field. Finally, the effectiveness of the algorithm is confirmed through simulation on a verification platform and testing on a physical prototype verification platform.
引用
收藏
页数:17
相关论文
共 50 条
[41]   Intelligent obstacle avoidance path planning method for picking manipulator combined with artificial potential field method [J].
Fang, Zheng ;
Liang, Xifeng .
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2022, 49 (05) :835-850
[42]   Underwater Submarine Path Planning Based on Artificial Potential Field Ant Colony Algorithm and Velocity Obstacle Method [J].
Fu, Jun ;
Lv, Teng ;
Li, Bao .
SENSORS, 2022, 22 (10)
[43]   Design Research on Vehicle Collision Avoidance Based on Artificial Potential Field [J].
Liu, Yingjie ;
Zhao, Youqun ;
Zhou, Xiaofeng .
FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE III, PTS 1 AND 2, 2013, 271-272 :727-731
[44]   Cooperative Guidance with Collision Avoidance Based on Artificial Potential Field Method [J].
Li, Wen ;
Zhao, Qilun ;
Shang, Teng ;
Liu, Yuecheng ;
Yao, Yinwei .
2024 43RD CHINESE CONTROL CONFERENCE, CCC 2024, 2024, :4006-4011
[45]   Obstacles Avoidance for UAV SLAM Based on Improved Artificial Potential Field [J].
Wang, Xibin ;
Song, Chao ;
Zhao, Guorong ;
Huang, Jingli .
INDUSTRIAL INSTRUMENTATION AND CONTROL SYSTEMS, PTS 1-4, 2013, 241-244 :1118-1121
[46]   Robot Collision Avoidance based on Artificial Potential Field with Local Attractors [J].
Melchiorre, Matteo ;
Scimmi, Leonardo Sabatino ;
Salamina, Laura ;
Mauro, Stefano ;
Pastorelli, Stefano .
PROCEEDINGS OF THE 19TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (ICINCO), 2022, :340-350
[47]   The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method [J].
Liu, Jian Ying ;
Guo, Zi Qi ;
Liu, Shi Yue .
MANUFACTURING ENGINEERING AND AUTOMATION II, PTS 1-3, 2012, 591-593 :1400-+
[48]   A DR algorithm based on artificial potential field method [J].
Shi, Xiang-Bin ;
Wang, Xue ;
Bi, Jing ;
Liu, Fang ;
Yang, Dan ;
Liu, Xian-Yan .
MULTIMEDIA TOOLS AND APPLICATIONS, 2009, 45 (1-3) :247-261
[49]   A DR algorithm based on artificial potential field method [J].
Xiang-Bin Shi ;
Xue Wang ;
Jing Bi ;
Fang Liu ;
Dan Yang ;
Xian-Yan Liu .
Multimedia Tools and Applications, 2009, 45 :247-261
[50]   Avoiding Obstacle Control of Mobile Robot based on Artificial Potential Field Method [J].
Wang Jing .
MECHATRONICS ENGINEERING, COMPUTING AND INFORMATION TECHNOLOGY, 2014, 556-562 :2325-2328