A Time-Evolving Topology Based Obstacle Avoidance Algorithm for Multi-UAV Formation

  • Zhentao Liu
  • Zhihua YangEmail author
  • Haifeng Yu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 463)


During avoidance of obstacles, an Unmanned Aerial Vehicle (UAV) team confronts with varying communication distances and intermittent visibilities among the member nodes, leading to a time-evolving communication topology. In this paper, therefore, we present a time-evolving based avoiding algorithm for a teamed Unmanned Aerial Vehicle (UAV) system in a two-dimension environment with dynamic obstacles. In one snapshot of the time-varying topology, especially, each member node computes out a convex polygon-based hull of the next-step positions set by making distributed consensus with neighbor nodes. With a centralized approach, the team determines the largest convex region by using these obtained convex hulls within a two-dimension geometric space, where each robot will locally compute the optimal parameters for its next proper position within the resulted convex region. From the simulation results, for a dynamic clutter environment, the proposed approach presents obviously less communication overheads, less time cost and scalable with the formation size.


Formation Obstacle avoidance Time-varing topology Multi-UAV team 



The authors would like to express their high appreciations to the supports from the Natural Science Foundation of Guangdong Province (2016A030313661) and Basic Research Project of Shenzhen (JCYJ20150625142543458 and JCYJ20150403161923521).


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© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Shenzhen Graduate School, Communications Engineering Research CenterHarbin Institute of TechnologyShenzhenChina

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