Live-fly experimentation for pigeon-inspired obstacle avoidance of quadrotor unmanned aerial vehicles

论文摘要

In this paper, we applied a pigeon-inspired obstacle-avoidance model to the flight of quadrotor UAVs through environments with obstacles. Pigeons bias their flight direction by considering the largest gap and minimum required steering. Owing to the similarities between pigeon flocks and UAV swarms in terms of mission requirements, the pigeon-inspired obstacle-avoidance model is used to control a UAV swarm so that it can fly through a complex environment with multiple obstacles. The simulation and flight results illustrate the viability and superiority of pigeon-inspired obstacle avoidance for quadrotor UAVs.

论文目录

• 1 Introduction
• 2 Obstacle avoidance model
•   2.1 Pigeon obstacle-avoidance model
•   2.2 UAV swarm obstacle avoidance model
• 3 System architecture
•   3.1 Flight system
•   3.2 Software systems
•   3.3 Communication system
• 4 Experimental results
•   4.1 Simulation test
•   4.2 Live-fly experimentation
• 5 Conclusion

文章来源

类型: 期刊论文

作者: Mengzhen HUO,Haibin DUAN,Qing YANG,Daifeng ZHANG,Huaxin QIU

来源: Science China(Information Sciences) 2019年05期

年度: 2019

分类: 信息科技,工程科技Ⅱ辑

专业: 航空航天科学与工程

单位: Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering,Beihang University (BUAA)

基金: supported by National Natural Science Foundation of China (Grant Nos. 61425008,61333004,91648205)

分类号: V279;V217

页码: 161-168

总页数: 8

文件大小: 1881K

下载量: 68