Journal of System Simulation
Abstract
Abstract: In view of the formation control of leader-follower swarm and obstacle avoidance in artificial potential field method in unmanned aerial vehicle (UAV) swarm formation system under complex environmental conditions, an obstacle avoidance algorithm for UAV swarm formation based on joint virtual sub-target and boundary force (JVBF) is proposed. The leader-follower method based on a virtual sub-target is used, and the modified force function is optimized to realize the formation control of the UAV swarm, so as to help the follower UAV to recover the formation quickly; the artificial potential field method based on boundary force is used for local path planning, so as to solve the disadvantages of unreachable targets and oscillation in narrow channels of UAVs. Simulation results show that the proposed algorithm has higher formation consistency and time efficiency than the traditional algorithm.
Recommended Citation
Wang, Man; Li, Dapeng; Ding, Lianghui; and Zhu, Tianlin
(2023)
"Formation Obstacle Avoidance Algorithm Based on Joint Virtual Sub-target and Boundary Force,"
Journal of System Simulation: Vol. 35:
Iss.
9, Article 8.
DOI: 10.16182/j.issn1004731x.joss.22-0538
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol35/iss9/8
First Page
1918
Last Page
1930
CLC
TP391.9; TP242.6
Recommended Citation
Wang Man, Li Dapeng, Ding Lianghui, et al. Formation Obstacle Avoidance Algorithm Based on Joint Virtual Sub-target and Boundary Force[J]. Journal of System Simulation, 2023, 35(9): 1918-1930.
DOI
10.16182/j.issn1004731x.joss.22-0538
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