Path planning and obstacle avoidance cooperative control strategy for autonomous patrol of UAV cluster
无人机集群自主巡逻的路径规划与避障协同控制策略

摘要

随着无人机技术的飞速发展，无人机集群在复杂环境中的自主巡逻任务越来越受到关注。本文提出了一种基于路径规划与避障协同控制的无人机集群自主巡逻策略。该策略结合了全局路径规划与局部避障算法，通过优化无人机间的协作机制，确保集群在执行巡逻任务时的高效性与安全性。研究重点在于解决路径规划中的动态障碍物避让问题，并通过多无人机协同控制策略提高集群任务的鲁棒性。实验结果表明，该方法能够有效提升无人机集群的自主性、灵活性以及避障能力，为未来无人机集群自主巡逻任务提供了理论依据和实践支持。

Abstract

With the rapid development of drone technology, autonomous patrol missions in complex environments for UAV swarms have garnered increasing attention. This paper proposes an autonomous patrol strategy for UAV swarms based on path planning and obstacle avoidance collaborative control. The strategy integrates global path planning with local obstacle avoidance algorithms, optimizing the coordination mechanism between drones to ensure both efficiency and safety during patrol operations. The research focuses on solving dynamic obstacle avoidance problems in path planning and enhancing task robustness through multi-drone collaborative control strategies. Experimental results demonstrate that this approach effectively improves the autonomy, flexibility, and obstacle avoidance capability of UAV swarms, providing theoretical foundations and practical support for future autonomous patrol missions.