Journal
SENSORS
Volume 20, Issue 15, Pages -Publisher
MDPI
DOI: 10.3390/s20154324
Keywords
UAV swarm; formation flight; decentralized control; anti-collision; obstacle avoidance
Funding
- REGIONE CAMPANIA, SCAVIR Project Advanced Configurations Studies for an Innovative Regional Aircraft [CUP B43D18000210007]
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This paper deals with the design of a decentralized guidance and control strategy for a swarm of unmanned aerial vehicles (UAVs), with the objective of maintaining a given connection topology with assigned mutual distances while flying to a target area. In the absence of obstacles, the assigned topology, based on an extended Delaunay triangulation concept, implements regular and connected formation shapes. In the presence of obstacles, this technique is combined with a model predictive control (MPC) that allows forming independent sub-swarms optimizing the formation spreading to avoid obstacles and collisions between neighboring vehicles. A custom numerical simulator was developed in a Matlab/Simulink environment to prove the effectiveness of the proposed guidance and control scheme in several 2D operational scenarios with obstacles of different sizes and increasing number of aircraft.
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