Artificial Potential Field Based Distributed Cooperative Collision Avoidance for UAV Formation

This paper designs a distributed cooperative controller based on artificial potential function, which is used for communication maintenance, formation configuration and collision avoidance among unmanned aerial vehicles (UAVs). Firstly, the quaternion dynamics mathematical model of the single quadrotor UAV is established and the leader-follower formation method is selected to establish the UAVs distributed communication topology graph. Then, an artificial potential function formation cooperative controller is designed to complete the distributed communication maintenance, formation configuration and collision avoidance of four quadrotor UAVs. Finally, numerical simulation verifies the effectiveness of the designed controller.