Cooperative target search and tracking for multi-UAVs based on control barrier functions

Author:

Wang Weizhen1ORCID,Chen Xin1,Li Li2,Zhang Min1

Affiliation:

1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China

2. School of Electrical Engineering, Yanshan University, Qinhuangdao, China

Abstract

In this paper, a multiple unmanned aerial vehicles (multi-UAVs) cooperative target search and tracking strategy with collision avoidance and flocking constraints are presented applying the control barrier functions (CBFs). First, the constraints of collision avoidance and flocking maintenance are designed based on CBF. Second, the information map and Lyapunov guidance vector field (LGVF) are used to design the corresponding nominal controllers in search mode and tracking mode, respectively. To minimize the difference between the actual controller and the nominal controller, the controller based on quadratic programming (QP) is proposed to achieve the target search and tracking on the premise of security. Finally, the simulation results verify the effectiveness of the proposed method.

Publisher

SAGE Publications

Subject

Instrumentation

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