UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field

The problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a pred...

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Detalles Bibliográficos
Autores: Tang, Jun|||0000-0001-8925-2367, Lao, Songyang, Huang, Yang|||0000-0002-1685-0144
Tipo de recurso: artículo
Fecha de publicación:2019
País:España
Institución:Universitat Autònoma de Barcelona
Repositorio:Dipòsit Digital de Documents de la UAB
Idioma:inglés
OAI Identifier:oai:ddd.uab.cat:216853
Acceso en línea:https://ddd.uab.cat/record/216853
https://dx.doi.org/urn:doi:10.3390/sym11091162
Access Level:acceso abierto
Palabra clave:Second-order consensus algorithm
Improve artificial potential field
Leader-follower
Collision avoidance
Formation retention
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spelling UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential fieldTang, Jun|||0000-0001-8925-2367Lao, SongyangHuang, Yang|||0000-0002-1685-0144Second-order consensus algorithmImprove artificial potential fieldLeader-followerCollision avoidanceFormation retentionThe problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a predetermined formation from any initial state and fly to the target position in normal flight, and can avoid collision according to the improved smooth artificial potential field method when encountering an obstacle. The UAV group adopts the "leader-follower" strategy, that is, the leader UAV is the controller and flies independently according to the mission requirements, while the follower UAV follows the leader UAV based on the second-order consensus algorithm and formations gradually form during the flight. Based on the second-order consensus algorithm, the UAV group can achieve formation maintenance easily and the Laplacian matrix used in the algorithm is symmetric for an undirected graph. In the process of obstacle avoidance, the improved artificial potential field method can solve the jitter problem that the traditional artificial potential field method causes for the UAV and avoids violent jitter. Finally, simulation experiments of two scenarios were designed to verify the collision avoidance effect and formation retention effect of static obstacles and dynamic obstacles while the two UAV groups fly in opposite symmetry in the dynamic obstacle scenario. The experimental results demonstrate the effectiveness of the proposed method. 22019-01-0120192019-01-01Articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://ddd.uab.cat/record/216853https://dx.doi.org/urn:doi:10.3390/sym11091162reponame:Dipòsit Digital de Documents de la UABinstname:Universitat Autònoma de BarcelonaInglésengopen accesshttp://purl.org/coar/access_right/c_abf2Aquest document està subjecte a una llicència d'ús Creative Commons. Es permet la reproducció total o parcial, la distribució, la comunicació pública de l'obra i la creació d'obres derivades, fins i tot amb finalitats comercials, sempre i quan es reconegui l'autoria de l'obra original.https://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:ddd.uab.cat:2168532026-06-06T12:50:31Z
dc.title.none.fl_str_mv UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
title UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
spellingShingle UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
Tang, Jun|||0000-0001-8925-2367
Second-order consensus algorithm
Improve artificial potential field
Leader-follower
Collision avoidance
Formation retention
title_short UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
title_full UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
title_fullStr UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
title_full_unstemmed UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
title_sort UAV group formation collision avoidance method based on second-order consensus algorithm and improved artificial potential field
dc.creator.none.fl_str_mv Tang, Jun|||0000-0001-8925-2367
Lao, Songyang
Huang, Yang|||0000-0002-1685-0144
author Tang, Jun|||0000-0001-8925-2367
author_facet Tang, Jun|||0000-0001-8925-2367
Lao, Songyang
Huang, Yang|||0000-0002-1685-0144
author_role author
author2 Lao, Songyang
Huang, Yang|||0000-0002-1685-0144
author2_role author
author
dc.subject.none.fl_str_mv Second-order consensus algorithm
Improve artificial potential field
Leader-follower
Collision avoidance
Formation retention
topic Second-order consensus algorithm
Improve artificial potential field
Leader-follower
Collision avoidance
Formation retention
description The problem of collision avoidance of an unmanned aerial vehicle (UAV) group is studied in this paper. A collision avoidance method of UAV group formation based on second-order consensus algorithm and improved artificial potential field is proposed. Based on the method, the UAV group can form a predetermined formation from any initial state and fly to the target position in normal flight, and can avoid collision according to the improved smooth artificial potential field method when encountering an obstacle. The UAV group adopts the "leader-follower" strategy, that is, the leader UAV is the controller and flies independently according to the mission requirements, while the follower UAV follows the leader UAV based on the second-order consensus algorithm and formations gradually form during the flight. Based on the second-order consensus algorithm, the UAV group can achieve formation maintenance easily and the Laplacian matrix used in the algorithm is symmetric for an undirected graph. In the process of obstacle avoidance, the improved artificial potential field method can solve the jitter problem that the traditional artificial potential field method causes for the UAV and avoids violent jitter. Finally, simulation experiments of two scenarios were designed to verify the collision avoidance effect and formation retention effect of static obstacles and dynamic obstacles while the two UAV groups fly in opposite symmetry in the dynamic obstacle scenario. The experimental results demonstrate the effectiveness of the proposed method.
publishDate 2019
dc.date.none.fl_str_mv 2
2019-01-01
2019
2019-01-01
dc.type.none.fl_str_mv Article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://ddd.uab.cat/record/216853
https://dx.doi.org/urn:doi:10.3390/sym11091162
url https://ddd.uab.cat/record/216853
https://dx.doi.org/urn:doi:10.3390/sym11091162
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
https://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
https://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Dipòsit Digital de Documents de la UAB
instname:Universitat Autònoma de Barcelona
instname_str Universitat Autònoma de Barcelona
reponame_str Dipòsit Digital de Documents de la UAB
collection Dipòsit Digital de Documents de la UAB
repository.name.fl_str_mv
repository.mail.fl_str_mv
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