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SCIENTIA SINICA Informationis, Volume 49, Issue 10: 1343-1352(2019) https://doi.org/10.1360/N112018-00333

Verification of a UAV swarm flight simulating the passive inertial emergency obstacle avoidance behavior of a pigeon flock

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  • ReceivedDec 21, 2018
  • AcceptedMar 28, 2019
  • PublishedOct 17, 2019

Abstract

In this paper, the passive inertial emergency obstacle avoidance behavior of pigeons is studied and applied to the coordinated flight verification of an unmanned aerial vehicle (UAV) swarm. Pigeons in nature dynamically adjust their routes during flight. When they encounter obstacles, emergency behaviors are generated; i.e., they change the current direction passively, get cross obstacles toward the largest gap between obstacles, and thus complete obstacle avoidance. Prior to the flight verification, the design of the UAV swarm system architecture is explained. Further, two scenarios of static emergency obstacle avoidance on the ground and with moving obstacles in the air are set up. The corresponding timing sequence diagrams and flight path diagrams are also given.


Funded by

国家自然科学基金(61425008,91648205)


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  • Figure 1

    The control of the UAV obstacle avoidance

  • Figure 2

    (Color online) The avoidance strategy of the UAV. (a) Obstacle detection; (b) steering decision-making;protectłinebreak (c) steering maneuvering.

  • Figure 3

    The system structure of UAV swarm

  • Figure 4

    (Color online) The static obstacle emergency avoidance on the ground. (a) and (b) show that UAVs cannot detect the obstacle. (c) and (d) show that UAVs can detect obstacle and adjust the current direction to avoid obstacle. (e) and (f) present that UAVs complete obstacle avoidance. (g) and (h) present the flight paths of UAVs obstacle avoidance in 3D and 2D.

  • Figure 5

    (Color online) The moving obstacle emergency avoidance in the air. (a) and (b) show that UAVs cannot detect the obstacle. (c) and (d) show that UAVs can detect obstacle and adjust the current direction to avoid obstacle. (e) and (f) present that UAVs complete obstacle avoidance. (g) and (h) present the flight paths of UAVs obstacle avoidance in 3D and 2D.

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