Abstract:In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by multi-UAV formation flying in unknown environments. First, according to the navigation evaluation function of the standard DWA algorithm, the target distance is introduced to correct the azimuth. Then, aiming at the problem that the fixed weight mechanism in standa… Show more
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