摘要
Inspired by the pigeon behavior pattern,this paper proposes an Unmanned Aerial Vehicle(UAV)swarm control scheme based on hybrid bionic sw arm intelligence,which can realize multi-UAV obstacle avoidance d uring formation control.First,the leadership mechanism of pigeon flock is mapped to UAV swamm,and the virtual leaders are introduced to solve the unfixed relative position of level-1 leader problem.Second,the control law for UAV swarm formation is designed based on artificial potential field theory and analysis of the bionic mechanism.To avoid local minima,a guidance phase is added to the UAV formation process.By analyzing the flocking algorithm,a cooperative interaction control model of UAV swarm is established.Third,the coopentive interactive control law for UAV sw arm obstacle avoidance is proposed based on improved artifcial potential feld function.Then the two bionic swarm control models are combined to realize the formation and obstacle avoidance of UAV swarm based on mixed bionic swarm intelligence.Finally,a series of simulations are conducted to demonstrate the proposed hybrid UAV sw arm control algorithm.
