A fast formation obstacle avoidance algorithm for clustered UAVs based on artificial potential field

The aim of this paper is to improve the rapid obstacle avoidance control of UAVs cluster in a complex obstacle environment, primarily utilizing the finite-time consistent formation control algorithm and the improved artificial potential field algorithm to design the fast obstacle avoidance control s...

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Bibliographic Details
Published in:	Aerospace science and technology Vol. 147; p. 108974
Main Authors:	Liu, Yunping, Chen, Cheng, Wang, Yan, Zhang, Tingting, Gong, Yiguang
Format:	Journal Article
Language:	English
Published:	Elsevier Masson SAS 01.04.2024
Subjects:	Artificial potential field Auxiliary potential field Finite time consistency Formation Auxiliary potential field Finite time consistency Artificial potential field Formation
ISSN:	1270-9638, 1626-3219
Online Access:	Get full text
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