ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Self⁃adaptive formation control and dynamic path planning for air⁃ground heterogeneous swarm
Received date: 2023-11-01
Revised date: 2023-11-27
Accepted date: 2024-01-21
Online published: 2024-02-02
Supported by
Fundamental Research Funds for the Central Universities of China
To deal with the collective obstacle avoidance and navigation problem of air-ground unmanned swarm with heterogeneous detection abilities， a self-adaptive formation control and dynamic path planning method is proposed in this paper. Firstly， the mathematical model of Unmanned Aerial Vehicle （UAV） and ground robots describing motion， detection and communication is established respectively. And the control architecture is designed to satisfy the target of collective obstacle avoidance and navigation of the heterogeneous swarm. Secondly， this paper proposes the dynamic formation boundary generation method for ground robot 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. The safety of collective navigation and obstacle avoidance is guaranteed on the basis of self-adaptive formation control by designing optimization function. Finally， the paper designs the scene of formation adaption including scaling， deformation and rotation and task situation of collective obstacle avoidance and navigation through narrow corridors. The effectiveness of the proposed self-adaptive formation control and dynamic path planning for air-ground unmanned swarm is validated through simulation， and the applicable boundary of the proposed method is further analyzed.
Jiang ZHAO , Xuan ZHANG , Pei CHI , Yingxun WANG . Self⁃adaptive formation control and dynamic path planning for air⁃ground heterogeneous swarm[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(16) : 329809 -329809 . DOI: 10.7527/S1000-6893.2024.29809
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