A Formation Maintenance and Reconstruction Method of UAV Swarm based on Distributed Control with Obstacle Avoidance

This paper studies the problem of formation maintenance and reconstruction of UAV swarm with obstacle avoidance. Firstly, a collision prediction mechanism is introduced to determine whether each UAV needs to avoid obstacles or not. Secondly, by designing the position and speed consistency control law between UAVs, each UAV and the virtual leader, combined with the obstacle avoidance mechanism based on the artificial potential field method, the swarm formation control and maintenance algorithm with obstacle avoidance is realized. Finally, the formation transformation is realized by changing the relative positional relationship between each UAV and the virtual leader. The simulation results show that the UAV swarm can generate, maintain and reconstruct the expected formation in a real-time distributed manner while avoiding obstacles.