Compact and ordered swarms of unmanned aerial vehicles in cluttered environments.

The globally coordinated motion produced by the classical swarm model is typically generated by simple local interactions at the individual level. Despite the success of these models in interpretation, they cannot guarantee compact and ordered collective motion when applied to the cooperation of unmanned aerial vehicle (UAV) swarms in cluttered environments. Inspired by the behavioral characteristics of biological swarms, a distributed self-organized Reynolds (SOR) swarm model of UAVs is proposed. In this model, a social term is designed to keep the swarm in a collision-free, compact, and ordered collective motion, an obstacle avoidance term is introduced to make the UAV avoid obstacles with a smooth trajectory, and a migration term is added to make the UAV fly in a desired direction. All the behavioral rules for agent interactions are designed with as simple a potential function as possible. And the genetic algorithm is used to optimize the parameters of the model. To evaluate the collective performance, we introduce different metrics such as (a) order, (b) safety, (c) inter-agent distance error, (d) speed range. Through the comparative simulation with the current advanced bio-inspired compact and Vasarhelyi swarm models, the proposed approach can guide the UAV swarm to pass through the dense obstacle environment in a safe and ordered manner as a compact group, and has adaptability to different obstacle densities.