关键词: 空地无人集群, 无人机, 机器人, 协同避障与导航, 队形自调节控制, 动态路径规划

Abstract: To deal with the collective obstacle avoidance and navigation problem of UAV-UGV swarm with heterogeneous detection abilities, a self-adaptive formation control and dynamic path planning method is proposed in this paper. Firstly, the motion model of UAV and UGV is established respectively considering the constraints of detection and communication. And the control architecture is designed for the collective obstacle avoidance and navigation of swarm. Secondly, this paper proposes the dynamic formation boundary generation method for UGV swarm and designs shape control, inter-agent collision avoidance, formation and navigation control component separately to achieve self-adaptive formation control. Furthermore, a path planning method for UAV based on dynamic window approach is proposed in view of the characteristics of dynamic formation boundary. Finally, the paper designs the task situation of collective obstacle avoidance and navigation through narrow corridors. The performance of control law is analyzed under the situation of formation boundary scaling, deforming and rotating, and the effectiveness of the proposed self-adaptive formation control and dynamic path planning for air-ground swarm is validated.

Key words: air-ground heterogeneous swarm, unmanned aerial vehicle, unmanned ground vehicle, collective obstacle avoidance and navigation, self-adaptive formation control, dynamic path planning