UAV cluster obstacle avoidance trajectory planning integrating collaborative control design

Ziwei Liu; Weiping Shao; Yongping Hao; Junjie Wang; Chunpeng Zhang; Zhaowei Peng

doi:10.1117/12.3025453

28 February 2024 UAV cluster obstacle avoidance trajectory planning integrating collaborative control design

Ziwei Liu, Weiping Shao, Yongping Hao, Junjie Wang, Chunpeng Zhang, Zhaowei Peng

Proceedings Volume 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023); 130711F (2024) https://doi.org/10.1117/12.3025453
Event: International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 2023, Shenyang, China

Abstract

This paper aims to propose an obstacle avoidance trajectory planning and group collaborative control method for UAV based on intelligent cluster. Based on the RRT obstacle avoidance algorithm, the consistency theory algorithm of group collaborative control strategy is fused, and the coordination and collaboration between UAVs are realized through information exchange and distributed control methods, so as to maintain cluster cooperative flight while avoiding obstacles and complete specific patrol strike tasks. The experimental results show that the algorithm can effectively realize the obstacle avoidance trajectory planning and group collaborative control of UAV, and improve the safety, stability and maneuverability of UAV.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Ziwei Liu, Weiping Shao, Yongping Hao, Junjie Wang, Chunpeng Zhang, and Zhaowei Peng "UAV cluster obstacle avoidance trajectory planning integrating collaborative control design", Proc. SPIE 13071, International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023), 130711F (28 February 2024); https://doi.org/10.1117/12.3025453

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