Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC
This paper focuses on the grouping formation control problem of unmanned aerial vehicle (UAV) swarms in obstacle environments. A grouping formation and obstacle avoidance control algorithm based on synchronous distributed model predictive control (DMPC) is proposed. First, the UAV swarm is divided i...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2024/4934194 |
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| _version_ | 1832559682740289536 |
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| author | Yunfeng He Xianjun Shi Jianhua Lu Chaolun Zhao Guorong Zhao |
| author_facet | Yunfeng He Xianjun Shi Jianhua Lu Chaolun Zhao Guorong Zhao |
| author_sort | Yunfeng He |
| collection | DOAJ |
| description | This paper focuses on the grouping formation control problem of unmanned aerial vehicle (UAV) swarms in obstacle environments. A grouping formation and obstacle avoidance control algorithm based on synchronous distributed model predictive control (DMPC) is proposed. First, the UAV swarm is divided into several groups horizontally and into a leader layer and a follower layer vertically. Second, tracking is regarded as the objective, and collision avoidance and obstacle avoidance are considered as constraints. By combining the velocity obstacle method with synchronous DMPC and providing corresponding terminal components, a leader layer control law is designed. The control law can enable the UAV swarm to track the target while avoiding collisions and dynamic obstacles. Then, considering the formation maintenance term, based on different priorities, member-level obstacle avoidance and group-level obstacle avoidance strategies are proposed, and the corresponding follower layer control laws are provided. Furthermore, the stability of the UAV swarm system under the control algorithm is demonstrated based on the Lyapunov theory. Finally, the effectiveness of the designed algorithm and its superiority in obstacle avoidance are verified through simulations. |
| format | Article |
| id | doaj-art-36f8dd5e3f9b49cb9061630f26218590 |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-36f8dd5e3f9b49cb9061630f262185902025-02-03T01:29:25ZengWileyInternational Journal of Aerospace Engineering1687-59742024-01-01202410.1155/2024/4934194Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPCYunfeng He0Xianjun Shi1Jianhua Lu2Chaolun Zhao3Guorong Zhao4Naval Aviation UniversityNaval Aviation UniversityNaval Aviation UniversityNaval Aviation UniversityNaval Aviation UniversityThis paper focuses on the grouping formation control problem of unmanned aerial vehicle (UAV) swarms in obstacle environments. A grouping formation and obstacle avoidance control algorithm based on synchronous distributed model predictive control (DMPC) is proposed. First, the UAV swarm is divided into several groups horizontally and into a leader layer and a follower layer vertically. Second, tracking is regarded as the objective, and collision avoidance and obstacle avoidance are considered as constraints. By combining the velocity obstacle method with synchronous DMPC and providing corresponding terminal components, a leader layer control law is designed. The control law can enable the UAV swarm to track the target while avoiding collisions and dynamic obstacles. Then, considering the formation maintenance term, based on different priorities, member-level obstacle avoidance and group-level obstacle avoidance strategies are proposed, and the corresponding follower layer control laws are provided. Furthermore, the stability of the UAV swarm system under the control algorithm is demonstrated based on the Lyapunov theory. Finally, the effectiveness of the designed algorithm and its superiority in obstacle avoidance are verified through simulations.http://dx.doi.org/10.1155/2024/4934194 |
| spellingShingle | Yunfeng He Xianjun Shi Jianhua Lu Chaolun Zhao Guorong Zhao Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC International Journal of Aerospace Engineering |
| title | Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC |
| title_full | Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC |
| title_fullStr | Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC |
| title_full_unstemmed | Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC |
| title_short | Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC |
| title_sort | grouping formation and obstacle avoidance control of uav swarm based on synchronous dmpc |
| url | http://dx.doi.org/10.1155/2024/4934194 |
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