Formation flight and collision avoidance for multiple UAVs based on modified tentacle algorithm in unstructured environments.

ABSTRACT: This paper presents a method for formation flight and collision avoidance of multiple UAVs. Due to the shortcomings such as collision avoidance caused by UAV's high-speed and unstructured environments, this paper proposes a modified tentacle algorithm to ensure the high performance of collision avoidance. Different from the conventional tentacle algorithm which uses inverse derivation, the modified tentacle algorithm rapidly matches the radius of each tentacle and the steering command, ensuring that the data calculation problem in the conventional tentacle algorithm is solved. Meanwhile, both the speed sets and tentacles in one speed set are reduced and reconstructed so as to be applied to multiple UAVs. Instead of path iterative optimization, the paper selects the best tentacle to obtain

SUBMITTER: Zhang M 

PROVIDER: S-EPMC5538717 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature