Bird Flocking Inspired Control Strategy for Multi-UAV Collective Motion

Abstract

UAV collective motion has become a hot research topic in recent years. The realization of UAV collective motion, however, relied heavily on centralized control method and suffered from instability. Inspired by bird flocking theory, a control strategy for UAV collective motion with distributed measure and control methods was proposed in this study. In order to appropriately adjust the inter-agent distance suitable for realization, the control law based on bird flocking theory was optimized, and the convergence of velocities and collision avoidance properties were presented through simulation results. Furthermore, the stable collective motion of two UAVs using visual relative information only with proposed strategy in both indoor and outdoor GPS-denied environments were realized.

References in corpus (5)

• Novel type of phase transition in a system of self-driven particles
• VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
• Interaction Ruling Animal Collective Behaviour Depends on Topological rather than Metric Distance: Evidence from a Field Study
• Flocking algorithm for autonomous flying robots
• Starling flock networks manage uncertainty in consensus at low cost