Considering the collision avoidance and obstacle avoidance requirements during the flight process of multi-UAVs, on the basis of the establishment of the trajectory attitude model of four-rotor UAVs, this paper proposes the trajectory design strategy based on the central point of the cluster UAVs to avoid the deficiencies in the planning trajectory for each UAV of traditional cluster UAVs. Furthermore, in view of the obstacle avoidance constraints and the iterative regional expansion based on the semi-definite program, the safe flight area and formation design of the cluster UAVs are completed. Subsequently, based on the disturbance compensation strategy, a distributed cooperative controller is designed for each UAV, finally ensuring the safe flight of multiple UAVs in a complex multi-obstacle environment.
TIAN Bailing
,
LI Pinpin
,
LU Hanchen
,
ZONG Qun
. Trajectory and attitude coordinated control of multiple unmanned aerial vehicles (UAVs) in complex environments[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020
, 41(S2)
: 724245
-724245
.
DOI: 10.7527/S1000-6893.2020.24245
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