Live-fly experimentation for pigeon-inspired obstacle avoidance of quadrotor unmanned aerial vehicles

Abstract

In this paper, we applied a pigeon-inspired obstacle-avoidance model to the flight of quadrotor UAVs through environments with obstacles. Pigeons bias their flight direction by considering the largest gap and minimum required steering. Owing to the similarities between pigeon flocks and UAV swarms in terms of mission requirements, the pigeon-inspired obstacle-avoidance model is used to control a UAV swarm so that it can fly through a complex environment with multiple obstacles. The simulation and flight results illustrate the viability and superiority of pigeon-inspired obstacle avoidance for quadrotor UAVs.

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

“…Flack 团队 [15] 通过对多组鸽群飞行数据的记录和分析, 研究鸽群群集决策机 制. Lin 等 [16] 通过分析鸽子穿越树木障碍时的飞行数据, 研究鸽子应对多个近距离障碍的飞行轨迹调 整方法. Duan 等 [17] 对鸽群启发式避障行为进行初步验证. 总之, 鸽群的集群行为体现出自组织、自 协调等特点, 其中所蕴含的运动、决策、信息传递机制与无人机集群自主控制的需求相符.…”