Abstract:
This paper presents a distributed algorithm to track a desired target while fostering the emergence of a swarm formation and providing obstacle avoidance capability to deal with unknown scenarios. The proposed approach is based on the merge between a Flight Management System for global path planning and the definition of virtual forces through a custom Artificial Potential Field to prevent drones collisions between each other, with external objects and to provide cohesion of the swarm configuration. Each drone independently computes its global route and adjusts its path based on an optimal control action to minimize a potential energy function induced by its neighbors and obstacles. This approach results in a high cost-effective strategy to enhance UAVs autonomy level by managing a large group of drones, guaranteeing a low cost per unit thanks to the low computational effort and low-budget sensor suit while providing all the capabilities to accomplish the desired mission.