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Uav Swarm Obstacle Avoidance Algorithm Based On Visual Field And Velocity Guidance, Xueqi Gui, Chuntao Li
Uav Swarm Obstacle Avoidance Algorithm Based On Visual Field And Velocity Guidance, Xueqi Gui, Chuntao Li
Journal of System Simulation
Abstract: In the future aerial combat of multiple unmanned aerial vehicles (UAVs), the safe flight of UAV swarm in unknown airspace is an important content of swarm research. In view of avoiding obstacles and maintaining behavior in the UAV swarm system, this paper presents a UAV swarm collision avoidance algorithm based on visual field and velocity guidance (VFVG). The swarm adaptive communication topology mechanism is designed based on the visual field method. Combined with the principle of far attraction and near repulsion and the consensus method, the mechanism can accelerate the transmission of obstacle avoidance information among UAV swarms while …
Multi-Uav Collaborative Trajectory Planning Algorithm For Urban Ultra-Low-Altitude Air Transportation Scenario, Jie Cheng, Yuan Zheng, Chenglong Li, Bo Jiang
Multi-Uav Collaborative Trajectory Planning Algorithm For Urban Ultra-Low-Altitude Air Transportation Scenario, Jie Cheng, Yuan Zheng, Chenglong Li, Bo Jiang
Journal of System Simulation
Abstract: The rapid development of the drone industry has promoted the opening of low-altitude, forming a wave of ultra-low-altitude air transportation in cities sweeping over the world. However, the existing trajectory planning algorithms do not consider the division method and operating rules of the ultra-low-altitude airspace. They are not suitable for the collaborative trajectory planning of multiple UAVs in the urban ultra-low-altitude air transportation scenario, which may restrict the development of the ultra-low-altitude air transportation industry. This paper explores a multi-UAV collaborative trajectory planning method for urban ultra-low-altitude air transportation scenario based on the airspace flight altitude layer architecture. Specifically, …