UAV Formation Avoidance Planning Based On Nonlinear Algorithm

In recent years,the purpose of the Unmanned Aerial Vehicle(UAV)is not only in the investigation,combat,defense reflect larger advantages,also in many other aspects reflects the potential new uses,however,on the basis of such breadth,people still focus on the depth of the effect as much as possible.UAV formation flight is a new concept,has been put forward in recent years,it can enrich the types of single drone missions,solve the problem of its mission,improve the operational efficiency,has more practical application scenarios,and by the cooperation way,can improve the mission success rate,and have higher flexibility.In the process of performing tasks,especially when some military tasks,the stability of the formation is particularly important,the stability of the formation is influenced by many factors,such as formation strategy,obstacles,and air flow,the strategy of formation and obstacles are the main influence factors,this paper focuses on these two aspects,respectively to the formation coordinated control level an d unmanned aerial vehicle(uav)obstacle avoidance level,according to the practical application scenarios,the feasible scheme is obtained by reading the literature,and the optimization is optimized on the basis of the scheme,so as to obtain the optimal formation scheme.Combining with the formation control scheme,the formation can do obstacle avoidance.In this paper,I propose a control scheme based on the improved method of navigational follower and behavioral law,which is improved on the basis of the following laws of navigation,which avoids the shortcomings of the pilot's "damage to the whole formation paralysis",The members of the assembly line into the work,combined with behavior-based law,the behavior of each UAV broken down into three sub-behavior,behavior constraints between each other,thus maintaining the overall stability of the formation.At the level of obstacle avoidance control,a new planning algorithm based on improved artificial potential field method and rolling window method is proposed.On the basis of artificial potential field method,the static environment and dynamic environment are improved respectively.Under static environment,The potential function is improved to solve the local minimum problem.The dynamic window is used to escape the local minimum in the dynamic environment.Through the simulation results,we can see that the scheme improves the accessibility of the target and the accuracy of the algorithm.Finally,the UAV formation on the whole through the formation control program to ensure the stability of the formation,local behavior-based strategy to the UAV movement divide formation into maintain the behavior,obstacle avoidance behavior and follow the behavior.In the obstacle avoidance,the improved obstacle avoidance algorithm is proposed for dynamic obstacle avoidance,and the weighted value of the three behaviors is the final motion vector.Based on the improvement of the traditional formation and obstacle avoidance algorithms,this paper innovatively integrates the whole fleet formation and obstacle avoidance,proposes a complete set of control system,and uses the improved obstacle avoidance algorithm in formation control system to avoid Barrier,so as to complete the obstacle avoidance behavior of the system under formation formation.Through the simulation environment of MATLAB,four unmanned aerial vehicles are formed to form a formation,which respectively forms formation obstacle avoidance in static and dynamic environment.The experimental verifica tion algorithm can well realize the formation avoidance barrier effect.