Pigeon interaction mode switch-based UAV distributed flocking control under obstacle environments

Unmanned aerial vehicle (UAV) flocking control is a serious and challenging problem due to local interactions and changing environments. In this paper, a pigeon flocking model and a pigeon coordinated obstacle-avoiding model are proposed based on a behavior that pigeon flocks will switch between hie...

Full description

Saved in:
Bibliographic Details
Published in:ISA transactions Vol. 71; no. Pt 1; pp. 93 - 102
Main Authors: Qiu, Huaxin, Duan, Haibin
Format: Journal Article
Language:English
Published: United States Elsevier Ltd 01.11.2017
Subjects:
Coordinated obstacle avoidance
Flocking control
Local minimum
Pigeon flock
Unmanned aerial vehicle
Local minimum
Unmanned aerial vehicle
Flocking control
Coordinated obstacle avoidance
Pigeon flock
ISSN:0019-0578, 1879-2022, 1879-2022
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Unmanned aerial vehicle (UAV) flocking control is a serious and challenging problem due to local interactions and changing environments. In this paper, a pigeon flocking model and a pigeon coordinated obstacle-avoiding model are proposed based on a behavior that pigeon flocks will switch between hierarchical and egalitarian interaction mode at different flight phases. Owning to the similarity between bird flocks and UAV swarms in essence, a distributed flocking control algorithm based on the proposed pigeon flocking and coordinated obstacle-avoiding models is designed to coordinate a heterogeneous UAV swarm to fly though obstacle environments with few informed individuals. The comparative simulation results are elaborated to show the feasibility, validity and superiority of our proposed algorithm. •A flocking model and a coordinated obstacle-avoiding model of pigeons are proposed.•A distributed flocking control algorithm based on the proposed models is designed.•A heterogeneous UAV is coordinated to fly though obstacles based on the algorithm.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0019-0578
1879-2022
1879-2022
DOI:10.1016/j.isatra.2017.06.016