Collision Avoidance Control for Multi-UAV Formation Based on Consensus Algorithm and Artificial Potential Field

This paper addresses the issues of high collision risks and poor communication quality during the formation and reconfiguration stages of multi-UAV systems. A collaborative control algorithm is proposed, based on consensus theory and integrating the artificial potential field method. First, analyzed the strengths and weaknesses of consensus theory and the artificial potential field method. To enhance collaborative capabilities, use different formation control algorithms employed in various stages of the process. The UAVs are modeled as second-order dynamical systems. Designed a communication architecture, along with consensus and artificial potential field-based formation control algorithms, followed by convergence analysis. Finally, design a double input-output fuzzy controller, enabling smooth transitions between algorithms. Simulation results demonstrate that the proposed method achieves rapid formation and smooth algorithm transitions during formation and reconfiguration. Ultimately, each UAV dynamically and stably tracks the virtual leader while maintaining the formation.