标题： 多无人机系统中新型鸽群启发的三维障碍检测与避障机动 显示英文标题

标题： Novel Pigeon-inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems

摘要： 近年来，多智能体系统操作的进展已经展示了在城市区域实施多无人机系统日益增长的需求，这些区域总是存在静态和动态障碍物。 受丽鱼和鸽子集体行为的启发，本研究的重点是引入一种受自然启发的无碰撞编队控制方法，考虑障碍物避让操作。 本研究中开发的框架采用了一种半分布式控制方法，在这种方法中，基于概率Lloyd算法，集中式引导算法用于无人机的最佳定位，而分布式控制方法则用于车辆间碰撞和障碍物避让。 此外，所提出的框架已被扩展到三维空间，并定义了新的三维操作。 最后，所提出的框架已应用于二维和三维场景中的多无人机系统，获得的结果证明了该方法在具有静态和移动障碍物的动态环境中的有效性。 显示英文摘要

摘要： Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the collective behavior of tilapia fish and pigeons, the focus of the presented research is on the introduction of a nature-inspired collision-free formation control for a multi-UAV system, considering the obstacle avoidance maneuvers. The developed framework in this study utilizes a semi-distributed control approach, in which, based on a probabilistic Lloyd's algorithm, a centralized guidance algorithm works for optimal positioning of the UAVs, while a distributed control approach has been used for the intervehicle collision and obstacle avoidance. Further, the presented framework has been extended to the 3D space with a novel definition of 3D maneuvers. Finally, the presented framework has been applied to multi-UAV systems in 2D and 3D scenarios, and the obtained results demonstrated the validity of the presented method in dynamic environments with stationary and moving obstacles.