Research On Formation Control And Obstacle Avoidance Of Multi-UAV Systems Under Switching Topology Structure

In recent decades,with the rapid development of artificial intelligence-related science and technology,multi-UAV systems formation and formation obstacle avoidance control technologies have been applied in various fields such as agriculture and military,bringing many conveniences to people’s production and life,and attracting attention from scholars.The research on multi-UAV formation and formation obstacle avoidance is a branch of distributed artificial intelligence.The multi-UAV swarm control system has characteristics of joint,autonomous,and distributed,and it has learning and organizing capabilities.This allows the independent UAVs in the multi-UAV swarm control system to cooperate through communication,forming and maintaining the desired formation among multiple UAVs to complete the overall task,thereby compensating for the low work efficiency of a single UAV and the small range of adaptable scenarios.Therefore,multi-UAV swarm control has great development potential and market prospects,and studying the formation and obstacle avoidance control technology of multiple UAVs has important scientific research and practical engineering significance.This article mainly conducts research on the formation and formation obstacle avoidance control problems of multiple UAVs under the switching topology structure and the main research contents include:First,study the formation control problem of multi-UAV systems under switching topology.Considering the jointly connected communication topology,a second-order system with multiple follower UAVs and a leader UAV as the mathematical model,and a distributed formation controller based on the jointly connected communication topology considering the communication disconnection problem in the process of interacting position information and velocity information between neighboring UAVs.Considering the characteristics of the joint connected topology,the non-strongly connected system is decomposed into multiple connected subsystems,and the stability analysis of the formation system is carried out with the help of Lyapunov stability theory,Cauchy convergence criterion and other methods through the characteristic that the sum of the eigenvalues of each subsystem communication matrix is greater than zero,which solves the problem that the traditional methods cannot prove the stability of the formation under the joint connected topology.Finally,the simulation experiments and analysis of the formation control method of multiple UAVs under switching topology in three-dimensional space prove that the designed formation controller can achieve the established formation objectives.Second,research on the formation obstacle avoidance control problem of multi-UAV systems under the switching communication topology structure.Aiming at the technical defects of the traditional artificial potential field algorithm obstacle avoidance that is prone to fall into the local optimal solution or the goal is unreachable,an improved artificial potential field is designed,and then a formation obstacle avoidance control method based on the improved artificial potential field under the switching communication topology structure is proposed.To prevent the problem of UAV collisions during the formation process,an internal repulsion potential field function between machines is added to the improved artificial potential field,and based on this,the obstacle avoidance behavior during the UAV formation process is studied.Then,based on Lyapunov stability theory,the stability of obstacle avoidance during the formation process of multi-UAV systems and the ultimate boundedness of system state errors are proven.Finally,the effectiveness of the method proposed in this article is verified through Matlab simulation experiments.