受鱼群与鸽子启发，实现多无人机无碰撞三维避障编队控制
Swarm Intelligence in Collision-free Formation Control for Multi-UAV Systems with 3D Obstacle Avoidance Maneuvers
- 融合集中式与分布式控制，仿生鱼群与鸽群行为
- 在2D/3D场景中成功避开建筑物等障碍物
- 适用于城市环境中多无人机协同任务
多无人机系统在城市环境中日益广泛应用，但静态与动态障碍物使其面临严峻挑战。本文提出一种受尼罗罗非鱼和鸽子群体行为启发的无碰撞编队控制框架。采用集中式控制器实现最优编队控制与恢复，基于概率Lloyd算法；分布式控制器负责机间碰撞及障碍物避让。该框架已扩展至三维空间并支持三维机动。在二维与三维场景下对多无人机系统进行测试，结果表明其在建筑物及其他类型障碍物存在时仍具有效性。
原文摘要 · Abstract (English)
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the presented research is on the introduction of a nature-inspired collision-free control for a multi-UAV system considering obstacle avoidance maneuvers. Inspired by the collective behavior of tilapia fish and pigeon, the presented framework in this study uses a centralized controller for the optimal formation control/recovery, which is defined by probabilistic Lloyd's algorithm, while it uses a distributed controller for the intervehicle collision and obstacle avoidance. Further, the presented framework has been extended to the 3D space with 3D maneuvers. Finally, the presented framework has been applied to a multi-UAV system in 2D and 3D scenarios, and obtained results demonstrated the validity of the presented method in the presence of buildings and different types of obstacles.
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