Artificial Potential Field Based Distributed Cooperative Collision Avoidance for UAV Formation

被引：0
|
作者：
Qin, Tanghao [1 ]
Yu, Hao [1 ]
Lv, Yueyong [1 ]
Guo, Yanning [1 ]
机构：
[1] Harbin Inst Technol, Dept Control Sci & Engn, Harbin, Peoples R China
来源：
PROCEEDINGS OF 2020 3RD INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS) | 2020年
关键词：
unmanned aerial vehicle formation; cooperative control; artificial potential function; collision avoidance;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper designs a distributed cooperative controller based on artificial potential function, which is used for communication maintenance, formation configuration and collision avoidance among unmanned aerial vehicles (UAVs). Firstly, the quaternion dynamics mathematical model of the single quadrotor UAV is established and the leader-follower formation method is selected to establish the UAVs distributed communication topology graph. Then, an artificial potential function formation cooperative controller is designed to complete the distributed communication maintenance, formation configuration and collision avoidance of four quadrotor UAVs. Finally, numerical simulation verifies the effectiveness of the designed controller.
引用
收藏
页码：897 / 902
页数：6
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