用流体动力学模拟无人机编队避障，实时安全平滑。
Three Dimensional Hydrodynamic Flow-Based Collision Avoidance for UAV Formations Facing Emergent Dynamic Obstacles
- 将障碍物建模为三维双极子，生成流场引导无人机绕行
- 无需重规划轨迹，实现无突变、无局部最优的避障
- 适合多机编队在动态环境中实时应用
本文提出一种面向动态环境中无人飞行器（UAV）编队的三维流体动力学启发式避障框架。当移动障碍物进入无人机感知范围时，将其建模为三维双极子或椭球体，生成局部速度场，引导邻近无人机执行平滑、无碰撞的机动，无需轨迹突变或显式重规划。该基于流场的方法利用拉普拉斯方程的调和性质，天然避免传统势场法中的局部极小问题，具备实时性与可解释性。为维持编队协调，融合虚拟刚体（VRB）编队策略，确保几何结构与轨迹跟踪一致性。仿真结果表明，该方法在单机及多机场景下均具可行性与可扩展性，适用于多种编队形态遭遇动态障碍的情况。所提方法实现安全、平滑且计算高效的避障动作，适合实时与实际应用。
原文摘要 · Abstract (English)
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are modeled as three dimensional doublets or ellipsoids that generate local velocity fields, guiding nearby UAVs to execute smooth, collision-free maneuvers without trajectory discontinuities or explicit trajectory replanning. This flow-based approach enables real-time operation and interpretable behavior by leveraging the nature of fluid flow around obstacles via the harmonic properties of Laplace's equation, inherently avoiding local minima common in traditional potential field methods. To establish and maintain coordination among the UAVs, a Virtual Rigid Body (VRB) formation strategy is integrated, ensuring that formation geometry and trajectory tracking are preserved. Simulation results demonstrate the feasibility and scalability of the method for both individual and multi-UAV scenarios with multiple formation geometries encountering moving obstacles. The proposed approach achieves safe, smooth, and computationally efficient avoidance maneuvers suitable for real-time and practical applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。