UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field

Authors

Ning Wang, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;Follow
Jiyang Dai, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;Follow
Jin Ying, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;

Abstract

Abstract: Aiming at the problems of multi-UAV formation collision avoidance, formation recovery and the consistency of position and velocity convergence, a distributed cooperative formation control algorithm based on the improved potential field principle and consistency theory is proposed. The static obstacle model, UAV particle model and the second-order system dynamic model are established; the coordination potential field function with coordination factors and communication weights is defined, which can achieve the control objectives of collision avoidance and formation recovery; on the basic consistency protocol, the formation center reference vector, expected speed and speed stabilization items are introduced to achieve the convergence and consistency of position and speed; the coordinated formation control algorithm is designed by combining the improved consistency protocol and the improved total acceleration under the action of the potential field, and the stable convergence of the algorithm is proved by the Hamilton function. The simulation results show that the method can achieve the control objectives of collision avoidance, formation recovery and the convergence of position and velocity.

Recommended Citation

Wang, Ning; Dai, Jiyang; and Ying, Jin (2022) "UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field," Journal of System Simulation: Vol. 34: Iss. 5, Article 5.
DOI: 10.16182/j.issn1004731x.joss.20-0980
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss5/5

First Page

978

Revised Date

2021-02-06

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0980

Last Page

993

CLC

TP391.9

Recommended Citation

Ning Wang, Jiyang Dai, Jin Ying. UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field[J]. Journal of System Simulation, 2022, 34(5): 978-993.

Corresponding Author

Jiyang Dai,djiyang@163.com

DOI

10.16182/j.issn1004731x.joss.20-0980