Distributed UAV swarm control framework with limited interaction for obstacle avoidance

Abstract

Purpose The purpose of this paper is to propose a distributed unmanned aerial vehicle (UAV) swarm control method to ensure safety and obstacle avoidance during swarm flight and realize effective guidance. Design/methodology/approach This paper proposes a distributed UAV swarm control framework with limited interaction. UAVs in the swarm realize the selection of limited interactive neighbors according to the random line of sight and limited field of view. The designed interaction force and obstacle avoidance mechanism are combined to ensure the safety of UAVs and avoid collisions and obstacles. Informed UAVs are deployed to guide the swarm to move in the desired direction. Findings The proposed distributed swarm control framework achieves high safety of swarm motion and the participation of informed UAVs is conducive to the guidance of the UAV swarm. Simulation results demonstrate the feasibility and effectiveness of the proposed approach. Practical implications The UAV swarm control method developed in this paper can be applied to the practice of UAV swarm control. Originality/value A distributed UAV swarm control method is proposed to ensure the effective control of the consistency and safety of swarm motion.