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- W3185201518 abstract "Safety is a prerequisite for the realization of UAV flocks, this article analyzes the collision problem between flocks of quadrotor UAVs. Based on the of “Boid” flock model, we use behavior rules to model flock aggregation, separation, velocity consistency, and collision avoidance behavior. We propose the collision avoidance behavior coordination mechanism between flocks. The PF (Potential Force) which is improved artificial potential field method and the DVO (Detect Velocity Obstacles) method are innovatively introduced into the collision avoidance behavior. We analyzed and compared the application of the two algorithms in the simulation experiment. The simulation results show that both algorithms can achieve collision avoidance when the flock meets together. In the results, the DVO algorithm has shorter trajectory and faster speed, but the calculations are more complicated. Then, we analyze the influence the force threshold parameters, the number of flocks and the safety radius parameters in the DVO function. Finally, the operation time of the two algorithms is analyzed and compared. Based on the analysis, the optimization directions of flight safety and computation amount are summarized as follows: 1. Create more collision avoidance space inside or outside the flock; 2. Reasonably set the number of interactions with obstacles and the size of the algorithm’s search area." @default.
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- W3185201518 date "2021-01-01" @default.
- W3185201518 modified "2023-09-26" @default.
- W3185201518 title "Research on Collision Avoidance Between UAV Flocks Using Behavior-Based Approach" @default.
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- W3185201518 doi "https://doi.org/10.1007/978-981-16-3142-9_33" @default.
- W3185201518 hasPublicationYear "2021" @default.
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