Research on Obstacle Avoidance Control Method of Multi-UAV Based on Model Predictive Control

Abstract

Aiming at the problem of multi-UAV obstacle avoidance control, a method of multi-UAV obstacle avoidance path planning based on model predictive control is proposed. Firstly, based on the UAV kinematics model and the analysis of the spatial geometric relationship between multiple UAV aircraft and obstacles, the obstacle avoidance rule based on Angle change was designed, and the optimal control model of multi-UAV collaborative obstacle avoidance was established. The nonlinear model predictive control method was used to solve the collaborative obstacle avoidance problem, and the specified UAV behavior pattern was used to shear the search space to improve the search efficiency of the method. Simulation results show that the proposed obstacle avoidance control method can not only solve the static obstacle avoidance control of the UAV, but also solve the problem of collision prevention between multiple UAV aircraft, which can effectively improve the working safety of the multi-UAV system.