Research On Obstacle Avoidance Algorithm For Multi UAV Patrol Task

With the development of technology,the related technology of UAV is becoming mature,and the application of UAV is expanding from military to civil.In order to meet the needs of more diverse and complex tasks,multi-UAVs formation execute tasks has become a research hotspot.Compared with single UAV,multi-UAVs cooperation has the advantages of expanding the sensing range,improving the task success rate and shortening the task completion time.At present,the application of multi-UAVs formation is still limited,mainly because the cooperation ability and environmental adaptability between UAVs are not high enough.In recent years,the consensus theory of multi-agent system has developed rapidly.It is possible to achieve control and maintenance of UAVs formation by using the consensus theory.In distributed consensus control,the communication between UAVs is represented by the connected graph in graph theory,and the information interaction between UAVs is only carried out by neighboring UAVs.Therefore,this paper studies the formation control of UAV which based on the consensus theory of multi-agent system,and combines the obstacle avoidance control of UAV which based on artificial potential field method to solve the problem of cooperation between UAVs and the problem of adaptability to the environment.Firstly,this paper studies the consensus protocol of multi-agent system under switching topology.Considering the complex and dynamic environment,the flight mission must separate the formation and the topology switching problem occurs.By using the mean dwell time method in the switched system,the conditions which the switched topology system can reach a consensus is obtained.The UAV formation algorithm in time-varying delay environment is designed.Based on Lyapunov stability theory and linear matrix inequality theory,the conditions of formation algorithm stability are given.The simulation results show that the consensus formation algorithm is feasible in formation convergence and keeping.Secondly,the obstacle avoidance control of UAV group is studied.By improving the artificial potential field method,the problem that UAV is easy to fall into local minimum is solved.Combined with the control of the UAV by the consensus algorithm,the internal anti-collision,external obstacle avoidance and formation stability of the UAV group are realized.The control algorithm has good autonomy and adaptability to both static and dynamic obstacles.