UAV Formation and Obstacle Avoidance Based on Improved APF

This paper put forward a solution for fixed-wing UAV formation control and obstacles avoidance based on an improved artificial potential field method (APF) and leader-follower structure. First, simplified model of fixed-wing UAV with kinematic constraints is introduced. Subsequently an improved APF considering the kinematic constraints and formation configuration is proposed. Then, a formation transformation method based on improved APF is put forward to increase the flexibility and reliability of formation to avoid obstacles in environment, which means the feedback of obstacle information to formation controller. Finally, simulations of UAV formation, tracking the desired trajectory and obstacle avoidance is presented and the results verify the effectiveness of the improved APF method.

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