植绒(纹理)
避障
群体行为
障碍物
固定翼
计算机科学
避碰
集体运动
翼
人工智能
控制理论(社会学)
工程类
碰撞
控制(管理)
移动机器人
航空航天工程
地理
机器人
计算机安全
材料科学
考古
复合材料
作者
Weihuan Wu,Xiangyin Zhang,Yuqing Miao
出处
期刊:Biomimetics
[MDPI AG]
日期:2022-11-26
卷期号:7 (4): 214-214
被引量:2
标识
DOI:10.3390/biomimetics7040214
摘要
For the sake of accomplishing the rapidity, safety and consistency of obstacle avoidance for a large-scale unmanned aerial vehicle (UAV) swarm in a dynamic and unknown 3D environment, this paper proposes a flocking control algorithm that mimics the behavior of starlings. By analyzing the orderly and rapid obstacle avoidance behavior of a starling flock, a motion model inspired by a flock of starlings is built, which contains three kinds of motion patterns, including the collective pattern, evasion pattern and local-following pattern. Then, the behavior patterns of the flock of starlings are mapped on a fixed-wing UAV swarm to improve the ability of obstacle avoidance. The key contribution of this paper is collective and collision-free motion planning for UAV swarms in unknown 3D environments with dynamic obstacles. Numerous simulations are conducted in different scenarios and the results demonstrate that the proposed algorithm improves the speed, order and safety of the UAV swarm when avoiding obstacles.
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