A Bio-Inspired Safety Control System for UAVs in Confined Environment With Disturbance
Kexin Guo, Cai Liu, Xiao Zhang, Xiang Yu, Youmin Zhang, Lihua Xie, Lei Guo
Abstract
This article presents a bio-inspired safety control scheme for unmanned aerial vehicles (UAVs) in confined environments with disturbance. Although there has been some existing research on the effect of disturbance for a single UAV, multi-UAV formation under external wind disturbances remains challenging, especially in a tight and confined environment. Inspired by nature, this study concentrates on an anti-disturbance mechanism for safe multi-UAV formation in a tight environment. The presented safety control system combines disturbance observer-based control (DOBC), bionic formation switching (BFS) strategy, and safety evaluation. Two safety issues are considered in this article. For a single UAV, the estimated disturbance is compensated in the inner-loop controller. While for multi-UAV formation, the BFS strategy attenuates the effect of external wind disturbance leveraging the formation configuration. The so-called group perturbation immune factor (GPIF) is designed to analyze and evaluate the safety of the overall formation. The experimental results validate the comprehensiveness and anti-disturbance capability of the system.