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Distributed UAV swarm control framework with limited interaction for obstacle avoidance

Baitao Zhu (School of Automation Science and Electrical Engineering, Beihang University, Beijing, China)
Yimin Deng (School of Automation Science and Electrical Engineering, Beihang University, Beijing, China)

Aircraft Engineering and Aerospace Technology

ISSN: 0002-2667

Article publication date: 2 December 2022

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Abstract

Purpose

The purpose of this paper is to propose a distributed unmanned aerial vehicle (UAV) swarm control method to ensure safety and obstacle avoidance during swarm flight and realize effective guidance.

Design/methodology/approach

This paper proposes a distributed UAV swarm control framework with limited interaction. UAVs in the swarm realize the selection of limited interactive neighbors according to the random line of sight and limited field of view. The designed interaction force and obstacle avoidance mechanism are combined to ensure the safety of UAVs and avoid collisions and obstacles. Informed UAVs are deployed to guide the swarm to move in the desired direction.

Findings

The proposed distributed swarm control framework achieves high safety of swarm motion and the participation of informed UAVs is conducive to the guidance of the UAV swarm. Simulation results demonstrate the feasibility and effectiveness of the proposed approach.

Practical implications

The UAV swarm control method developed in this paper can be applied to the practice of UAV swarm control.

Originality/value

A distributed UAV swarm control method is proposed to ensure the effective control of the consistency and safety of swarm motion.

Keywords

Acknowledgements

This work was partially supported by Science and Technology Innovation 2030-Key Project of “New Generation Artificial Intelligence” under Grant No. 2018AAA0100803, and National Natural Science Foundation of China under Grant Nos. 91948204, U20B2071, T2121003 and U1913602.

Citation

Zhu, B. and Deng, Y. (2022), "Distributed UAV swarm control framework with limited interaction for obstacle avoidance", Aircraft Engineering and Aerospace Technology, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/AEAT-04-2022-0099

Publisher

:

Emerald Publishing Limited

Copyright © 2022, Emerald Publishing Limited

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