UAV Swarm Reconfiguration Based on Improved Artificial Physics and Virtual Structure

Abstract

Abstract The reconfiguration problem was researched for the homogenous fixed-wing unmanned aerial vehicle (UAV) swarm. The kinematic model of a fixed-wing UAV was constructed. The virtual structure expressed the desired swarm configuration. A node in the virtual structure represented the desired position of a UAV. The improved artificial physics (AP) method used the node to produce the attraction to a UAV. The repulsion was designed for the UAVs to avoid collisions among them during the swarm reconfiguration. The UAV controller included the attraction, the repulsion, and the damp term. The damp term reduced the chattering process of the UAV’s flight states. A numerical simulation was carried out to show the reconfiguration process of the UAV swarm. The simulation results validate that the designed controller can drive the UAV to avoid collisions with other UAVs and to successfully complete the swarm reconfiguration process.