UAV cluster obstacle avoidance trajectory planning integrating collaborative control design

This paper aims to propose an obstacle avoidance trajectory planning and group collaborative control method for UAV based on intelligent cluster. Based on the RRT obstacle avoidance algorithm, the consistency theory algorithm of group collaborative control strategy is fused, and the coordination and collaboration between UAVs are realized through information exchange and distributed control methods, so as to maintain cluster cooperative flight while avoiding obstacles and complete specific patrol strike tasks. The experimental results show that the algorithm can effectively realize the obstacle avoidance trajectory planning and group collaborative control of UAV, and improve the safety, stability and maneuverability of UAV.