Studied here is the problem of multiple unmanned aerial vehicles flying in formation in an environment containing many obstacles and threats. Two schemes are proposed for avoiding obstacles: formation dissolution and formation change. The improved interfered fluid dynamical system approach is used to guide the unmanned aerial vehicles to their destination safely, and an artificial potential field is used for formation forming and re-forming and to avoid intervehicle collisions. Straightforward and effective control algorithms are designed for the two schemes. Unlike other algorithms, the proposed method can be applied to different scenarios with no additional requirements, such as having to have different controllers for different situations. Finally, two simulation experiments are provided to validate the effectiveness of the proposed control algorithms.

这里研究的问题是，在无数障碍和威胁的环境中，多架无人驾驶飞机编队飞行。提出了两种避免障碍的方案：地层溶解和地层变化。改进的受干扰流体动力学系统方法用于将无人机安全地引导到目的地，并且人工势场用于地层成形和再成形以及避免车辆之间的碰撞。为这两种方案设计了简单有效的控制算法。与其他算法不同，所提出的方法可以在没有其他要求的情况下应用于不同的场景，例如必须针对不同的情况使用不同的控制器。最后，