UAV Swarm Obstacle Avoidance Based on Visual Filed and Adaptive Radius

doi:10.16182/j.issn1004731x.joss.23-1269

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 effectivelysolve 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.

Key words: UAV swarm, obstacle avoidance, adaptive obstacle avoidance radius, field of view topology, distributed model predictive control

CLC Number:

V279

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.

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Table 1

Table 2

Parameter settings

参数名称	集群模式	避障模式
$Q k 1$	1	1
$Q k 2$	0.2	0.08
$Q k 3$	0.1	0.003
$Q k 4$	20 000	60 000
$Q k 5$	10 000	4 000
$R k 1$	1 000	100
$R k 2$	1 000	100
$S k 1$	100	100
$S k 2$	100	100
$K o, n$	10 000	25 000
$K o, b$	0	100 000
$K n 1$	10 000	0
$K n 2$	10 000	0

Table 2

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Table 3

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无人机序列	位置	航迹方位角/rad	航迹倾斜角/rad
UAV1	[248, 1, 401]	0	0
UAV2	[184, 51, 401]	0	0
UAV3	[184, -50, 401]	0	0
UAV4	[184, 1, 452]	0	0
UAV5	[184, 1, 350]	0	0
UAV6	[184, 1, 400]	0	0
UAV7	[120, 101, 400]	0	0
UAV8	[120, -100, 400]	0	0
UAV9	[120, 1, 502]	0	0
UAV10	[120, 1, 299]	0	0
UAV11	[120, 50, 451]	0	0
UAV12	[120, 50, 350]	0	0
UAV13	[120, -50, 451]	0	0
UAV14	[120, -50, 350]	0	0
UAV15	[120, 1, 400]	0	0
UAV16	[56, 0, 400]	0	0
UAV17	[56, 51, 400]	0	0
UAV18	[56, -51, 400]	0	0
UAV19	[56, 0, 451]	0	0
UAV20	[56, 0, 348]	0	0

无人机序列	位置	航迹方位角/rad	航迹倾斜角/rad
UAV1	[245, 196, 411]	0.26	0.01
UAV2	[175, 218, 410]	0.50	0.03
UAV3	[176, 115, 412]	0.32	0.07
UAV4	[176, 167, 462]	0.45	0.07
UAV5	[176, 168, 358]	0.45	0.00
UAV6	[176, 167, 411]	0.35	0.06
UAV7	[107, 217, 407]	0.60	0.04
UAV8	[102, 21, 407]	0.78	0.04
UAV9	[105, 118, 505]	0.66	-0.03
UAV10	[105, 118, 309]	0.66	0.09
UAV11	[106, 167, 455]	0.63	0.00
UAV12	[106, 167, 358]	0.63	0.07
UAV13	[104, 69, 455]	0.69	0.01
UAV14	[104, 69, 359]	0.68	0.09
UAV15	[105, 118, 407]	0.66	0.04
UAV16	[36, 42, 404]	0.71	0.09
UAV17	[36, 94, 403]	0.82	0.05
UAV18	[38, -8, 404]	0.68	0.09
UAV19	[34, 45, 455]	0.86	0.09
UAV20	[34, 45, 351]	0.86	0.03

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