Novel Pigeon-inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems
This addresses obstacle avoidance for multi-UAV systems in urban areas, but it appears incremental as it builds on existing nature-inspired and control methods.
The paper tackled the problem of collision-free formation control for multi-UAV systems in urban environments with static and dynamic obstacles, introducing a nature-inspired semi-distributed control framework that demonstrated validity in 2D and 3D scenarios.
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the collective behavior of tilapia fish and pigeons, the focus of the presented research is on the introduction of a nature-inspired collision-free formation control for a multi-UAV system, considering the obstacle avoidance maneuvers. The developed framework in this study utilizes a semi-distributed control approach, in which, based on a probabilistic Lloyd's algorithm, a centralized guidance algorithm works for optimal positioning of the UAVs, while a distributed control approach has been used for the intervehicle collision and obstacle avoidance. Further, the presented framework has been extended to the 3D space with a novel definition of 3D maneuvers. Finally, the presented framework has been applied to multi-UAV systems in 2D and 3D scenarios, and the obtained results demonstrated the validity of the presented method in dynamic environments with stationary and moving obstacles.