Cooperative Path Planning and Formation Control with Obstacle Avoidance for UAVs
摘要
To address the challenges of cooperative path planning (CPP) and formation control for multiple unmanned aerial vehicles (UAVs), a Co-evolutionary Variation Multi-Swarm Particle Swarm Optimization (CVMS-PSO) method, along with a robust formation control strategy, is developed. Initially, a cooperative cost function is defined, and an improved CVMS-PSO algorithm is employed to compute optimal three-dimensional paths for multiple UAVs. Based on the UAV formation and error dynamics, an asymptotic controller incorporating obstacle avoidance constraints is formulated to handle formation control and collision avoidance. Finally, a series of mathematical simulations are conducted to validate the effectiveness and feasibility of the proposed approach.