Behavioral control of UAVs with multi-threat evasion strategy inspired by biological systems

摘要

The problem of having a multi-agent nonholonomic systems achieve a desired mission in a multi-threat prone environment is addressed in this paper. In such hostile environment, the ability to reach a target, keep formation and evade a threat is crucial. This paper proposes a behavioral control algorithm that makes the multi-agent system operates by switching through different navigation algorithms. To ensure stability while switching, cohesive motion and formation maintenance, evasion if under threat, as well as mission accomplishment a combination of path tracking and potential field strategies has been implemented. These algorithms are inspired from the behavior control of a school of fish in a foraging mission while under shark attack.