The biological concept of a swarm’s emergent behavior resulting from the self-organization of the individuals in a swarm is an important piece of information that can be integrated into industrial manufacturing of unmanned ground or aerial vehicles. In this paper, we present a Lyapunov-based path planner that organizes the individuals, governed by a simple rigid-body model, of a swarm into formations which ensure a safe collision-free path for the swarm to its target in obstacle-cluttered environments. Via the Direct Method of Lyapunov that establishes the swarm system’s stability, we propose the instantaneous velocity function for each individual. The velocity functions could be easily integrated into industrial designs for the individuals of a swarm of unmanned ground or aerial vehicles. As an application, we consider the planar formation of a swarm of unmanned aerial vehicles (UAVs) using their kinematic models for simplicity. Via computer simulations, we illustrate several self-organization such as elliptic and linear formations, split/rejoin, and tunneling maneuvers for obstacle avoidance and helical trajectory for milling. In particular, the linear formations have been proposed as suitable for the surveillance of large areas such as the Exclusive Economic Zones.

群体中个体的自我组织所产生的群体突发行为的生物学概念是一条重要信息，可以集成到无人地面或空中飞行器的工业生产中。在本文中，我们提出了一个基于Lyapunov的路径规划器，该路径规划器将一个群体（由简单的刚体模型控制）组织到地层中，以确保该群体在障碍物拥挤的环境中安全无碰撞地到达目标。通过建立群体系统稳定性的李雅普诺夫直接法，我们为每个人提出了瞬时速度函数。速度功能可以轻松地集成到针对无人地面或空中飞行器群的个体的工业设计中。作为应用，为了简化起见，我们考虑使用其运动学模型来研究无人飞行器（UAV）群的平面形成。通过计算机模拟，我们说明了几种自组织，例如椭圆形和线性形，分裂/重新结合以及避免障碍的隧道操纵和用于铣削的螺旋轨迹。特别是，线性地层被提出适合监视大范围区域，例如专属经济区。