Flocking Control of Fixed-Wing UAVs With Cooperative Obstacle Avoidance Capability

doi:10.1109/access.2019.2895643

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Flocking Control of Fixed-Wing UAVs With Cooperative Obstacle Avoidance Capability
	W.W.Zhao; H.R.Chu; M.Y.Zhang; T.T.Sun; L.H.Guo
刊名	Ieee Access
	2019
卷号	7 页码:17798-17808
关键词	Fixed-wing UAV swarm,multi-agent system,flocking control,cooperative,obstacle avoidance,consensus,local information communication,multiagent systems,behaviors,algorithm,consensus,Computer Science,Engineering,Telecommunications
ISSN号	2169-3536
DOI	10.1109/access.2019.2895643
英文摘要	In recent years, with the development of the unmanned aerial vehicle (UAV) and battlefield environments, the UAV swarm has attracted significant research attention. To solve problems regarding poor state consensus among swarm individuals due to a small number of individuals easily falling into local minima upon encountering an obstacle, this paper proposes a flocking obstacle avoidance algorithm with local interaction of obstacle information. To make the UAV swarm follow the desired trajectory with better state consensus, we improved the flocking control algorithm of agents according to the characteristics and requirements of the UAV swarm. The obstacle avoidance algorithm for the UAV swarm is based on Olfati-Saber's multi-agent obstacle avoidance algorithm. The proposed method has individuals in the swarm communicate obstacle information with their neighbors, and we present a simple analysis of this method. The method improves the cooperative obstacle avoidance capability of the flocking control algorithm. The simulation results showed that the proposed flocking control algorithm provides a better tracking effect and consensus for the UAV swarm when avoiding obstacles.
语种	英语
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/62750]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	W.W.Zhao,H.R.Chu,M.Y.Zhang,et al. Flocking Control of Fixed-Wing UAVs With Cooperative Obstacle Avoidance Capability[J]. Ieee Access,2019,7:17798-17808.
APA	W.W.Zhao,H.R.Chu,M.Y.Zhang,T.T.Sun,&L.H.Guo.(2019).Flocking Control of Fixed-Wing UAVs With Cooperative Obstacle Avoidance Capability.Ieee Access,7,17798-17808.
MLA	W.W.Zhao,et al."Flocking Control of Fixed-Wing UAVs With Cooperative Obstacle Avoidance Capability".Ieee Access 7(2019):17798-17808.