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Distributed Control within a Trapezoid Virtual Tube Containing Obstacles for UAV Swarm Subject to Speed Constraints

Yan GaoChenggang BaiQuan Quan
Dec 2022
摘要
For guiding the UAV swarm to pass through narrow openings, a trapezoidvirtual tube is designed in our previous work. In this paper, we generalize itsapplication range to the condition that there exist obstacles inside thetrapezoid virtual tube and UAVs have strict speed constraints. First, adistributed vector field controller is proposed for the trapezoid virtual tubewith no obstacle inside. The relationship between the trapezoid virtual tubeand the speed constraints is also presented. Then, a switching logic for theobstacle avoidance is put forward. The key point is to divide the trapezoidvirtual tube containing obstacles into several sub trapezoid virtual tubes withno obstacle inside. Formal analyses and proofs are made to show that all UAVsare able to pass through the trapezoid virtual tube safely. Besides, theeffectiveness of the proposed method is validated by numerical simulations andreal experiments.
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