@inproceedings{b692753f2caf4a8a865751eee0043535,
title = "Obstacle Avoidance Control Method for High-Speed Aircraft Cluster Intelligent Formation Under Hierarchical Control Framework",
abstract = "To address the safety issues faced by high-speed UAV swarms during formation flight in densely obstructed areas, we propose an intelligent swarm formation control framework that combines constrained A* path planning with deep reinforcement learning. A high-speed UAV swarm model is established, and an obstacle model considering the volume of the swarm is designed. Continuous planned flight trajectories are obtained by truncating path points. A reward function is designed based on the relative position and velocity relationships between UAVs, between UAVs and the target, and between UAVs and obstacles. The lower-level distributed formation intelligent controller is trained using this reward function. Simulation experiments demonstrate the effectiveness of this hierarchical control framework.",
keywords = "A-star Algorithm, Deep Reinforcement Learning, Formation Control, High Speed Flight Vehicle",
author = "Yanyang Hu and Wenjiang Yu and Chengchao Bai",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2025.; 4th International Conference on Autonomous Unmanned Systems, ICAUS 2024 ; Conference date: 19-09-2024 Through 21-09-2024",
year = "2025",
doi = "10.1007/978-981-96-3552-8\_39",
language = "英语",
isbn = "9789819635511",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "412--422",
editor = "Lianqing Liu and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems, 4th ICAUS 2024",
address = "德国",
}