关键词: 无人机, 编队避障, 队形变换, 队形重构, 容错编队

Abstract: Aiming at the problems of obstacles and failures in multiple UAVs (Unmanned Aerial Vehicles) formation mission flight, a dynamic formation switching and reconfiguration method was proposed. For a certain UAV in the formation, the obstacles and other UAVs in formation were regarded as dynamic threats. By adaptively adjusting score weights considering different flying scenarios, the ability of the UAVs formation to avoid obstacles in dynamic environment was improved. In the case that one of the UAVs in the formation occurs faults, the remaining UAVs formation was reconfigured. By changing the position of the followers relative to the leader in the objective function of the dynamic window approach, a new formation without the fault UAV was reconfigured. By this means, fault-tolerant formation flight can be realized. Simulation results show that the proposed formation transformation and reconfiguration algorithm can realize dynamic obstacle avoidance and fault-tolerant formation flight in the case that the UAVs team cannot continue formation missions due to the fault or lack of power. At the same time, compared with the traditional method, the distance error between the formation UAVs is lower.

Key words: unmanned aerial vehicle, formation obstacle-avoidance, formation switching, formation reconfiguration, fault-tolerant formation