UAV formation control based on combining consensus control and artificial potential field

Hongchao Zhao; Jianzhong Zhao; Xuexia Dong

doi:10.1117/12.2615306

15 October 2021 UAV formation control based on combining consensus control and artificial potential field

Hongchao Zhao, Jianzhong Zhao, Xuexia Dong

Proceedings Volume 11933, 2021 International Conference on Neural Networks, Information and Communication Engineering; 119331U (2021) https://doi.org/10.1117/12.2615306
Event: 2021 International Conference on Neural Networks, Information and Communication Engineering, 2021, Qingdao, China

Abstract

In order to improve the collision avoidance capability of unmanned aerial vehicle (UAV) formation, a new kind of UAV formation control algorithm was developed based on combining the consensus control and the artificial potential field (APF). The formation controller consisted of three sub-controllers. The first was a distributed consensus controller that controlled UAVs to maintain the desired formation shape. The second was an APF controller that avoided collisions among UAVs. The third was an APF controller that avoided collisions between UAVs and obstacles in the task space. Numerical simulation was performed to validate the effectiveness of the designed UAV formation controller. The simulation results show that 5 UAVs can safely avoid collisions with each other and collisions with the obstacles during their formation flight. Moreover, they can recover desired distance and desired shape after they avoid the obstacles.

Citation Download Citation

Hongchao Zhao, Jianzhong Zhao, and Xuexia Dong "UAV formation control based on combining consensus control and artificial potential field", Proc. SPIE 11933, 2021 International Conference on Neural Networks, Information and Communication Engineering, 119331U (15 October 2021); https://doi.org/10.1117/12.2615306

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