With the increasing demand for the application of multiple quadrotors, improving their autonomous flight ability in unknown environments has become one of the research focuses in the robot field. In this paper, a distributed obstacle avoidance controller is proposed with three elaborate control terms: obstacle avoidance term, inter-robot collision avoidance term, and formation reconstruction. Firstly, an online local obstacle avoidance algorithm is designed based on the obstacle avoidance behavior of the pigeon flock and potential field theory. Then, inspired by the spring-damped system, an inter-robot collision avoidance algorithm is designed based on Hooke's law with damping. Furthermore, based on the consensus theory and local neighboring information, a distributed formation reconstruction controller is designed. Finally, the simulation and quantitative analysis are carried out in Gazebo simulation platform. For practical application, an outdoor experimental platform with six quadrotors is constructed to verify the practicability of the proposed method. The results show that the three control terms are compatible with each other to achieve obstacle avoidance and can achieve formation control for quadrotors.

随着多旋翼飞行器应用需求的不断增加，提高其在未知环境中的自主飞行能力成为机器人领域的研究热点之一。在本文中，提出了一种分布式避障控制器，该控制器具有三个精心设计的控制项：避障项、机器人间碰撞避免项和队形重建。首先，基于鸽群的避障行为和势场理论，设计了一种在线局部避障算法。然后，受弹簧阻尼系统的启发，设计了一种基于具有阻尼的胡克定律的机器人间碰撞避免算法。此外，基于共识理论和局部邻域信息，设计了分布式编队重建控制器。最后，在Gazebo仿真平台上进行仿真和定量分析。在实际应用中，搭建了六旋翼四旋翼户外实验平台，验证了所提方法的实用性。结果表明，三个控制项相互兼容，可以实现四旋翼飞行器的避障，实现编队控制。