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For the problem of achieving efficient and stable autonomous collaborative obstacle avoidance among multi-UAV in urban environments, a method based on self-organized behavior (SOB) for collaborative obstacle avoidance has been proposed. Initially, the rules of SOB are mapped to multi-UAV, introducing target attraction behavioral rules and obstacle avoidance behavioral rules containing multiple avoidance strategies. Subsequently, control inputs are formed by selecting different combinations of scenario weights to achieve state updates for multi-UAV. Finally, through comparative simulation experiments, the feasibility and effectiveness of the proposed approach are validated. Simulation results demonstrate that the designed algorithm can enhance the consistency of collaboration and the efficiency of obstacle avoidance among multi-UAV in urban environments.

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Self-organized Behavior-Based Multi-UAV Collaborative Obstacle Avoidance in Urban Environments

  • 会议论文

  • 发表日期：

    2025年

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  • Zhihao Gao,
  • Xiaobin Xu,
  • Shiyao Lin,
  • Junfang Fan,
  • Xu Wang,
  • Chengyu Gu

摘要

For the problem of achieving efficient and stable autonomous collaborative obstacle avoidance among multi-UAV in urban environments, a method based on self-organized behavior (SOB) for collaborative obstacle avoidance has been proposed. Initially, the rules of SOB are mapped to multi-UAV, introducing target attraction behavioral rules and obstacle avoidance behavioral rules containing multiple avoidance strategies. Subsequently, control inputs are formed by selecting different combinations of scenario weights to achieve state updates for multi-UAV. Finally, through comparative simulation experiments, the feasibility and effectiveness of the proposed approach are validated. Simulation results demonstrate that the designed algorithm can enhance the consistency of collaboration and the efficiency of obstacle avoidance among multi-UAV in urban environments.