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Journal of System Simulation

Abstract

Abstract: In the future aerial combat of multiple unmanned aerial vehicles (UAVs), the safe flight of UAV swarm in unknown airspace is an important content of swarm research. In view of avoiding obstacles and maintaining behavior in the UAV swarm system, this paper presents a UAV swarm collision avoidance algorithm based on visual field and velocity guidance (VFVG). The swarm adaptive communication topology mechanism is designed based on the visual field method. Combined with the principle of far attraction and near repulsion and the consensus method, the mechanism can accelerate the transmission of obstacle avoidance information among UAV swarms while maintaining the behavior. On this basis, the limit cycle is combined with the artificial potential field method to construct the obstacle avoidance velocity guidance term, which solves problems such as the difficulty of swarm separation, obstacle avoidance hovering, and stagnation. To evaluate the obstacle avoidance efficiency of the proposed algorithm, an obstacle avoidance time index is introduced. The simulation results show that the proposed method can make multiple UAVs pass through complex obstacle areas safely, quickly, and smoothly with good swarm behavior and effectively improve the success rate and efficiency of swarm obstacle avoidance.

First Page

545

Last Page

554

CLC

V279; TP391.9

Recommended Citation

Gui Xueqi, Li Chuntao. UAV Swarm Obstacle Avoidance Algorithm Based on Visual Field and Velocity Guidance[J]. Journal of System Simulation, 2024, 36(3): 545-554.

Corresponding Author

Li Chuntao

DOI

10.16182/j.issn1004731x.joss.22-1287

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