Research on a Distributed Cooperative Guidance Law for Obstacle Avoidance and Synchronized Arrival in UAV Swarms

In response to the issue where the original synchronization time becomes inapplicable for UAV swarms after temporal consistency convergence due to obstacle avoidance, a new distributed consultative temporal consistency guidance law that takes into account threat avoidance has been proposed. Firstly, a six-degree-of-freedom dynamic model and a guidance control model for unmanned aerial vehicles (UAVs) are established, and the guidance commands are decomposed into control signals for the pitch and yaw planes. Secondly, based on the theory of dynamic inversion control, a temporal consistency guidance law for a single UAV is constructed. On the other hand, an improved artificial potential field theory is used and integrated with a predictive correction network to generate guidance commands for threat avoidance. A threshold smoothing method is employed to integrate the two guidance systems, and a cluster consultation mechanism is introduced to design a two-layer temporal synchronization architecture, which negotiates to change the synchronization time of the swarm to achieve the convergence of consistency once again. Finally, in typical application scenarios, simulation verification demonstrates the effectiveness of the control method proposed in this paper. The proposed control method achieves the guidance of UAV formations to synchronize their arrival at the target location under complex threat conditions.