Self-Reconfigurable V-shape Formation of Multiple UAVs in Narrow Space Environments

TL;DR

This work tackles autonomous coordination of multiple UAVs navigating through narrow, obstacle-rich environments. It introduces a distributed behavior-based controller to form and maintain a self-reconfigurable V-shape, leveraging formation, goal-reaching, obstacle avoidance, and collision avoidance behaviors, plus a pliers/scissors-inspired reconfiguration mechanism driven by inter-UAV distance errors $||p_{ij}||-d_{ij}$. The method models UAVs in 2D with a single-integrator dynamic $ abla p_i=u_i$, defines the V-shape via distances $d_i$ and bearing angles $ ablaoldsymbol{ abla}$, and computes combined control signals $u_i$ from local behaviors, including reconfiguration terms $u_i^r$. Simulation results demonstrate the approach can form the V-shape, deform to pass through narrow passages, and return to the target formation, with average formation error near $0.1$ m and an order parameter $ abla ext{Φ}$ close to 1 during transit, indicating cohesive, aligned motion. The work offers a practical, scalable framework for safe, dynamic UAV formations in cluttered, real-world environments, with potential applications in inspection, surveillance, and search-and-rescue tasks.

Abstract

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the V-shape formation is motivated by its maneuverability and visibility advantages. The main objective is to develop an effective formation control strategy that allows UAVs to autonomously adjust their positions to form the desired formation while navigating through obstacles. To achieve this, we propose a distributed behavior-based control algorithm that combines the behaviors designed for individual UAVs so that they together navigate the UAVs to their desired positions. The reconfiguration process is automatic, utilizing individual UAV sensing within the formation, allowing for dynamic adaptations such as opening/closing wings or merging into a straight line. Simulation results show that the self-reconfigurable V-shape formation offers adaptability and effectiveness for UAV formations in complex operational scenarios.

Figures (6)

• Figure 1: The self-reconfigurable V-shape formation can adjust its shape and navigate through narrow passages.
• Figure 2: The sensing range $r_s$ and alert range $r_a$ ($r_a<r_s$) of a UAV $R_i$
• Figure 3: Illustration of the V-shape formation
• Figure 4: Self-reconfiguration of the V-shape formation based on the mechanism of pliers or scissors
• Figure 5: Simulation result of the V-shape formation moving through a narrow passage