Multi-quadrotor UAVs formation obstacle avoidance control based on virtual leader

Aiming at the problem of quadrotor UAV formation obstacle avoidance with external disturbances and multiple obstacles, a distributed formation obstacle avoidance control method based on the combination of virtual leader and repulsion function is designed. With the trajectory of the virtual leader as the core, the desired formation trajectory is designed according to the desired relative position deviation, and the obstacle avoidance is realized by combining the repulsive function. Based on the adaptive integral backstepping method to realize the tracking control of the quadrotor UAV on the desired formation trajectory, the adaptive algorithm is used to estimate the external disturbance and eliminate the influence of the disturbance on the system, and the differential explosion problem in the backstepping control is solved by using a filter. The simulation experiment proves that the quadrotor UAV can quickly respond to form the required formation and achieve reasonable collision avoidance against multiple obstacles, which fully verifies the viability of the designed formation avoidance method.