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A non-potential Target Function for Controlling the UAVs Group Flight in Presence of Concave Obstacles

A solution for the problem of controlling the unmanned quadrotor vehicles group flight in presence of obstacles of complex form is proposed. A traditional approach to construction of the target function does not solve the problem of control at presence of concave obstacles; the UAVs may get trapped in such a situation. The proposed target function contains the three terms. The first of them controls the UAVs' behavior with respect to attitude. The second is built on the base of a moving coordinate system bound to the trajectory of the group motion. The third addend is a standard sum that performs the function of repelling the UAVs one from another. Also, in the proposed approach the motion is bound to the virtual center of the group, instead of one UAV that is chosen to be a leader. This approach helps to avoid a discrepancy between desired and actual states of the group in case that the leader UAV experiences some problems with its motion.