Integrated the Artificial Potential Field with the Leader–Follower Approach for Unmanned Aerial Vehicles Cooperative Obstacle Avoidance

Yingxue Zhang, Jinbao Chen, Meng Chen, Chuanzhi Chen (), Zeyu Zhang and Xiaokang Deng
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Yingxue Zhang: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Jinbao Chen: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Meng Chen: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Chuanzhi Chen: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Zeyu Zhang: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Xiaokang Deng: College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

Mathematics, 2024, vol. 12, issue 7, 1-20

Abstract: For the formation and obstacle avoidance challenges of UAVs (unmanned aerial vehicles) in complex scenarios, this paper proposes an improved collaborative strategy based on APF (artificial potential field). This strategy combines graph theory, the Leader–Follower method, and APF. Firstly, we used graph theory to design formation topology and dynamically adjust the distances between UAVs in real time. Secondly, we introduced APF to avoid obstacles in complicated environments. This algorithm innovatively integrates the Leader–Follower formation method. The design of this attractive field is replaced by the leader’s attraction to the followers, overcoming the problem of unreachable targets in APF. Meanwhile, the introduced Leader–Follower mode reduces information exchange within the swarm, realizing a more efficient “few controlling many” paradigm. Afterwards, we incorporated rotational force to assist the swarm in breaking free from local minima. Ultimately, the stability of the integrated formation strategy was demonstrated using Lyapunov functions. The feasibility and effectiveness of the proposed strategy were validated across multiple platforms.

Keywords: UAV swarm; graph theory; APF; Leader–Follower method; rotational force; affine formation; reconfiguration (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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