Flocking Control of Small Unmanned Aerial Vehicles in Obstacle Field

被引：1
|
作者：
Efremov, A. Yu. [1 ]
Legovich, Yu. S. [1 ]
机构：
[1] Russian Acad Sci, Trapeznikov Inst Control Sci, Moscow 117997, Russia
来源：
AUTOMATION AND REMOTE CONTROL | 2021年 / 82卷 / 02期
关键词：
swarm robotics; flocking model; unmanned aerial vehicle; obstacle avoidance; simulation modeling;
D O I：
10.1134/S0005117921020124
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The motion control problem of UAVs flock moving through obstacle field towards a target point in quasi-two-dimensional space is considered. An approach is suggested, according to which the grid with cells of the selected size is imposed on the mission area. At the same time, the obstacle is interpolated by the set of convex polygons constructed on the nodes of this grid. The algorithm for determining the desired speed of objects in a group based on swarm robotics principles is proposed. The results of the simulation modeling are presented.
引用
收藏
页码：342 / 352
页数：11
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