Formation obstacle-avoidance and reconfiguration method for multiple UAVs

doi:10.11772/j.issn.1001-9081.2023091342

Journal of Computer Applications ›› 2024, Vol. 44 ›› Issue (9): 2938-2946.DOI: 10.11772/j.issn.1001-9081.2023091342

• Frontier and comprehensive applications • Previous Articles Next Articles

Formation obstacle-avoidance and reconfiguration method for multiple UAVs

Lingxia MU¹, Zhengjun ZHOU¹, Ban WANG²(), Youmin ZHANG³, Xianghong XUE¹, Kaikai NING¹

^1.Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing （Xi’an University of Technology），Xi’an Shaanxi 710048，China
^2.School of Aeronautics，Northwestern Polytechnical University，Xi’an Shaanxi 710072，China
^3.Department of Mechanical，Industrial & Aerospace Engineering，Concordia University，Montreal H3G 1M8，Canada

Received:2023-10-07 Revised:2023-12-07 Accepted:2023-12-12 Online:2024-03-15 Published:2024-09-10
Contact: Ban WANG
About author:MU Lingxia， born in 1988， Ph. D.， associate professor. Her research interests include autonomous trajectory planning， guidance and control.
ZHOU Zhengjun， born in 2000， M. S. candidate. His research interests include multi-aircraft formation trajectory planning and control.
ZHANG Youmin， born in 1963， Ph. D.， professor. His research interests include guidance and control.
XUE Xianghong， born in 1990， Ph. D.， lecturer. His research interests include UAV cluster control.
NING Kaikai， born in 1998， M. S. His research interests include UAV path planning.
Supported by:
National Natural Science Foundation of China(61903297);China Postdoctoral Science Foundation(2022MD723834)

多无人机编队避障和编队重构方法

穆凌霞¹, 周政君¹, 王斑²(), 张友民³, 薛向宏¹, 宁凯凯¹

^1.复杂系统控制与智能信息处理陕西省重点实验室(西安理工大学), 西安 710048
^2.西北工业大学航空学院, 西安 710072
^3.康考迪亚大学机械、工业与航空工程系, 加拿大蒙特利尔 H3G 1M8

通讯作者: 王斑
作者简介:穆凌霞（1988—），女，江苏盐城人，副教授，博士，主要研究方向：自主轨迹规划、制导与控制
周政君（2000—），男，甘肃兰州人，硕士研究生，主要研究方向：多机编队轨迹规划及控制
张友民（1963—），男，陕西大荔人，教授，博士，主要研究方向：制导与控制
薛向宏（1990—），男，陕西榆林人，讲师，博士，主要研究方向：无人机集群控制
宁凯凯（1998—），男，陕西西安人，硕士，主要研究方向：无人机路径规划。
基金资助:
国家自然科学基金资助项目(61903297);中国博士后科学基金资助项目(2022MD723834)

Abstract

Abstract:

Aiming at the problems of obstacles and failures in multi-UAV （Unmanned Aerial Vehicle） formation 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 UAV formation to avoid obstacles in dynamic environment was improved. When one UAV in the formation occurs faults， the remaining UAVs were formation reconfigured. By changing the positions 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 could be obtained. Simulation results show that the proposed formation obstacle avoidance and reconfiguration algorithm can realize dynamic obstacle avoidance and fault-tolerant formation flight in the case of one UAV fault or lack of power. At the same time， compared with the traditional method， the distance error between the UAVs in the formation is lower.

Key words: Unmanned Aerial Vehicle (UAV), formation obstacle avoidance, formation switching, formation reconfiguration, fault-tolerant formation

摘要：

针对多无人机（UAV）编队飞行过程中的避障和故障问题，提出一种编队动态变换与重构方法。编队内UAV将障碍物和其余UAV作为动态威胁，根据当前飞行环境自适应地改变航迹评价函数的得分权重，提高编队在动态环境下的避障能力；当编队中某一UAV故障时，对剩余UAV进行编队队形重构，改变动态窗口法（DWA）目标函数中僚机相对于长机的位置，实时调整得到新的编队，从而实现容错编队飞行。仿真实验结果表明，所提编队避障和重构方法能够实现动态避障以及单机故障或动力不足情况下的容错编队飞行；与传统DWA相比，所得到的编队无人机间距离误差更小。

关键词: 无人机, 编队避障, 队形变换, 队形重构, 容错编队

CLC Number:

TP391

Lingxia MU, Zhengjun ZHOU, Ban WANG, Youmin ZHANG, Xianghong XUE, Kaikai NING. Formation obstacle-avoidance and reconfiguration method for multiple UAVs[J]. Journal of Computer Applications, 2024, 44(9): 2938-2946.

穆凌霞, 周政君, 王斑, 张友民, 薛向宏, 宁凯凯. 多无人机编队避障和编队重构方法[J]. 《计算机应用》唯一官方网站, 2024, 44(9): 2938-2946.

Figures/Tables 20

Fig. 1 Description of multi-UAV formation planning problem

Fig. 2 Flow of proposed method

Fig. 3 Leader-follower formation

Fig. 4 Formation shape information

Fig. 5 Example of formation obstacle avoidance

Fig. 6 Example of UAV evaluation function

Fig. 7 Input variable membership functions of fuzzy rules

Fig. 8 Output variable membership functions of fuzzy rules

Tab. 1 Fuzzy rules combined with DWA

序号	输入		输出
序号	d_g	d_o	α	β	γ
1	PS	PB	PB	PM	PS
2	PS	PM	PB	PM	PS
3	PS	PB	PB	PS	PS
4	PM	PB	PS	PB	PS
5	PM	PM	PM	PM	PS
6	PM	PB	PM	PS	PB
7	PS	PB	PS	PB	PS
8	PS	PM	PM	PM	PM
9	PB	PB	PB	PS	PB

Fig. 9 DWA based on adaptive evaluation function parameters

Fig. 10 Obstacle avoidance and switching algorithm for multi-UAV formation

Fig. 11 Process of formation switching

Fig. 12 Formation reconfiguration process after UAV fault occurrence

Fig. 13 Obstacle avoidance and formation reconfiguration algorithm of multi-UAV formation

Tab. 2 Initial parameter setting

参数	值	参数	值
$v m a x$	20 m/s	$α$	0.05
$v ˙ m a x$	0.4 m/s²	$β$	0.2
$ω m a x$	20 deg/s	$γ$	0.1
$ω ˙ m a x$	0.4 deg/s²

Tab. 2 Initial parameter setting

参数	值	参数	值
$v m a x$	20 m/s	$α$	0.05
$v ˙ m a x$	0.4 m/s²	$β$	0.2
$ω m a x$	20 deg/s	$γ$	0.1
$ω ˙ m a x$	0.4 deg/s²

Fig. 14 Simulation results of multi-UAV formation and switching

Fig. 15 Distance between each follower and leader of different methods

Fig. 16 Simulation results of different methods for formation obstacle avoidance and recovery

Fig. 17 Formation reconfiguration in case of single UAV fault and two UAVs fault

Fig. 18 Formation reconfiguration in case of fault occurrence in leader-UAV

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Formation obstacle-avoidance and reconfiguration method for multiple UAVs

多无人机编队避障和编队重构方法

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