Multi-UAV Switching Topology Formation with Collision Avoidance and Connectivity Preservation

The control of Multi-UAV formations is a significant research topic in the field of Multi-UAV collaboration. This paper addresses the second-order consensus formation problem with switching topologies and proposes a formation control method based on a pigeon hierarchy strategy, which includes collis...

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Bibliographic Details
Published in2024 7th International Conference on Mechatronics and Computer Technology Engineering (MCTE) pp. 454 - 459
Main Authors Sun, Yiming, Chen, Guifen, Gu, Xinglong, Qu, Zitao
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.08.2024
Subjects
Collision avoidance
connectivity preservation
Control systems
Formation control
Graph theory
Maintenance
pigeon hierarchy strategy
Safety
Stability analysis
Sufficient conditions
Switches
switching topology
Topology
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DOI10.1109/MCTE62870.2024.11117929

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Summary:The control of Multi-UAV formations is a significant research topic in the field of Multi-UAV collaboration. This paper addresses the second-order consensus formation problem with switching topologies and proposes a formation control method based on a pigeon hierarchy strategy, which includes collision avoidance and connectivity maintenance. Specifically, for connectivity maintenance, a leadership switching strategy is devised based on the characteristics of the potential function; for inter-UaV collision avoidance, an altitude-assisted control input is proposed, which enables the UAVs to quickly exit the collision avoidance range through a leap behavior when they become locally trapped. The stability of the proposed system is proven using LaSalle's invariance principle and graph theory. Finally, the effectiveness of the proposed method is further validated through simulation experiments.
DOI:10.1109/MCTE62870.2024.11117929