Group of UAVs Moving on Smooth Control Law with Fixed Obstacles

Abstract

In this paper considered the movement of multi-agent system that consists of several UAVs that carry out monitoring ground surface. The multi-agent system includes a lead agent and several agents-members of the group. The motion of this system occurs along a trajectory, which is determined by the initial conditions, its mathematical model and obstacles on the route. Only the leader of the group knows the ultimate goal of the movement. The motion of this structure is considered in the potential field, which determined the forces of attraction and repulsion and created control signals by measuring the distances to the nearest neighbors. This allows the UAV group to consider an aggregate that has some size and to describe its motion the system of differential equations of second-order. As UAV selected Quadrotor. In this investigation, the stability conditions of such motion are considered, and simulation of approach is proposed.