Journal of System Simulation
Abstract
Abstract: Aiming at the obstacle avoidance problem of large-scale UAV swarm tracking flight route, a swarm obstacle avoidance algorithm based on distributed model predictive control combined with visual field and adaptive obstacle avoidance radius is proposed. In the process of swarm flight, the UAV obtains the reference route information of the current moment according to its own position, and obtains the predicted trajectory of its neighbors through local information interaction. When encountering obstacles, the adaptive obstacle avoidance radius and field of view topology method are combined to effectively solve the problem that the internal safety distance cannot be maintained and some UAVs collide with obstacles during obstacle avoidance, the external obstacle avoidance and internal collision avoidance of swarm flight are realized.
Recommended Citation
Ai, Gaohang and Li, Chuntao
(2024)
"UAV Swarm Obstacle Avoidance Based on Visual Filed and Adaptive Radius,"
Journal of System Simulation: Vol. 36:
Iss.
12, Article 17.
DOI: 10.16182/j.issn1004731x.joss.23-1269
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol36/iss12/17
First Page
2945
Last Page
2959
CLC
V279; TP391.9
Recommended Citation
Ai Gaohang, Li Chuntao. UAV Swarm Obstacle Avoidance Based on Visual Filed and Adaptive Radius [J]. Journal of System Simulation, 2024, 36(12): 2945-2959.
DOI
10.16182/j.issn1004731x.joss.23-1269
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