Formation Control and Obstacle/Collision Avoidance with Dynamic Constraints

Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 622)


This paper studies the leader-follower formation control problem of unmanned air vehicles(UAVs) flying with dynamic constraints in an obstacle-laden environment. Firstly, formation protocols are presented for UAV swarm systems. Necessary and sufficient conditions for UAV swarm systems to achieve formations are presented based on graph theory. A formation tracking protocol is designed to drive the followers to track the leader. Then, an improved obstacle avoidance method based on potential field method is designed by combining with local rules considering dynamic constraints. The improved method can avoid potential field falling into local minimum and have good global searching ability. The stability of the presented approach is proved by using Lyapunov stability theory. Finally, numerical simulations are presented to demonstrate the effectiveness of the designed approach.


Leader-follower formation Consensus algorithm Potential filed Collision avoidance 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.School of Aeronautics and AstronauticsShanghai Jiao Tong UniversityShanghaiChina

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