Robust Distributed Cooperative Path-Following and Local Replanning for Multi-UAVs Under Differentiated Low-Altitude Paths
This addresses robust distributed coordination for multi-UAV systems in challenging airspace, representing an incremental improvement over existing methods.
The paper tackled the problem of cooperative path-following for multiple fixed-wing UAVs in complex low-altitude environments with wind disturbances and obstacles, achieving finite-time stabilization of path-following error to zero and real-time obstacle avoidance with minimal time cost.
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles, and requirements of distributed temporal synchronization during differentiated path tracking. Existing methods lack efficient distributed coordination mechanisms for time-consistent tracking of 3D differentiated paths, fail to quantify robustness against disturbances, and lack effective online obstacle avoidance replanning capabilities. To address these gaps, a cooperative control strategy is proposed: first, the distributed cooperative path-following problem is quantified via time indices, and consistency is ensured through a distributed communication protocol; second, a longitudinal-lateral look-ahead angle adjustment method coupled with a robust guidance law is developed to achieve finite-time stabilization of path following error to zero under wind disturbances; third, an efficient local path replanning method with minimal time cost is designed for real-time online obstacle avoidance.Experimental validations demonstrate the effectiveness and superiority of the $\ $proposed strategy.