Research On Collision-avoidance Strategy Of Autonomous Flight Of UAV Cluster

As the automation and intelligence level of the UAV is improving at an unprecedented pace,UAV has been widely used in civil and military activities.Due to the increasingly complex flight environment and tasks of UAVs,it is difficult for a single UAV to complete its mission alone because of its limited flight and load capacity.The cooperative operation is more in line with the operation requirements under the background of modernization,and the key to realize UAV swarm cooperative operation is to solve the problem of collision avoidance within the swarm.In response to these problems,this paper proposes an autonomous flight avoidance strategy based on energy-saving path planning algorithm for UAV swarm in limited area,and develops related energy-saving path planning,the fornulation and simulation of collision avoidance strategies for UAV swarms in limited 2D and 3D areas.The main contents of this paper are as follows:1.To deal with the problem of path planning and obstacle avoidance of UAV under multi-constraints,an energy-saving path planning obstacle avoidance algorithm based on improved artificial potential field method is proposed.The algorithm is applied via the environmental information to generate pre-planned paths to increase path coherence,and adds the factor of energy consumption to the cost function,so that the path obtained by the algorithm is the most energy-saving path under the condition of ensuring UAV safety and physical constraints.The simulation results show that the algorithm overcomes the shortcomings of traditional artificial potential field method,and can plan safe,smooth and energy-saving paths in different flight environments,effectively avoid obstacles,and has good adaptability.2.A collision avoidance strategy based on energy-saving path planning algorithm is proposed and compared with the collision avoidance strategy based on dual decision-making for 2D random flight in a limited area.The collision avoidance strategy based on the dual decision combines the right-side strategy and the region-based strategy,which effectively reduces the collision probability of UAV at the regional boundary.The collision avoidance strategy based on energy-saving path planning algorithm can effectively reduce the collision probability while increasing little maneuvering energy consumption by synthetically adjusting the target selection distance L,safety adjustment factor ωsaf,smoothing adjustment factor ωsmo and energy-saving adjustment factorωene.The simulation results show that the avoidance strategy based on energy-saving path planning is better than that based on the dual decision-making in terms of collision probability reduction rate and operation time.3.As for the avoidance problem of the autonomous flight of UAV swarm in 3D limited area,a 3D collision avoidance strategy based on energy-saving path planning algorithm is proposed.The 3D collision avoidance strategy considers the overall energy consumption of the swarm while pursuing low collision rate.The collision probability and overall energy consumption of the UAV swarm can be adjusted by adjusting the strategy parameters,in order to find the balance point between the collision probability and the overall energy loss of UAV swarm.The simulation results infer that the collision potential and the actual collision probability within the swarm can be reduced by 9.21%and 80.29%by increasing the power consumption by about 14.73%,compared with the non-collision strategy.