Time-Varying Formation Tracking Control of Heterogeneous Unmanned System with Obstacle and Collision Avoidance

It is of great significance to avoid obstacles and collision between agents in the time-varying tracking process of unmanned aircraft vehicle-unmanned ground vehicle (UAV-UGV) system to improve the safety of formation. This paper considers the time-varying formation tracking control of UAV-UGV heterogeneous system under obstacle avoidance and collision avoidance. Firstly, a state-dependent dynamic joint communication topology is designed because the communication of the formation changes with the relative positions of the agents. Secondly, the repulsion potential field functions between the UGVs and between the UGVs and the obstacle are designed respectively. Finally, the artificial potential field method is combined with the consensus formation control algorithm to realize obstacle avoidance and collision avoidance between UGVs through potential field force, and the consensus formation control algorithm realizes formation maintenance and trajectory tracking control. The simulation results show that this algorithm can ensure both the safety of formation and the stability of formation during formation tracking.