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With the wide application of unmanned aerial vehicles (UAVs) in the fields of traffic monitoring and logistics distribution, the cooperative management of UAVs faces many challenges. In this study, a communication-based multi-object dynamics model for UAVs is proposed, and the existing RVO-3D model is improved to meet the cooperative obstacle avoidance requirements of multi unmanned aerial systems. By introducing the communication mechanism, the new model can effectively handle the dynamic interactions among multiple subjects, and improve the collision avoidance capability and cooperative efficiency of UAV clusters in complex 3D environments. In addition, a cross-platform simulation framework is developed to validate the performance of the proposed model and support the simulation and control of multi-UAS. The simulation results in simple and complex conflict scenarios show that the improved model exhibits excellent effectiveness and adaptability in multiple complex scenarios, which provides theoretical support and technical paths for the cooperative control of unmanned aerial systems.

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A Cooperative Control Model and Simulation Framework for Unmanned Aircraft Considering Multi-subject Communication

  • 会议论文

  • 发表日期：

    2025年

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  • Zheng Zhang,
  • Jingyuan Chen,
  • Endian Wang,
  • Ziqi Wang,
  • Zihua Li,
  • Gege Jiang,
  • Yao Xiao

摘要

With the wide application of unmanned aerial vehicles (UAVs) in the fields of traffic monitoring and logistics distribution, the cooperative management of UAVs faces many challenges. In this study, a communication-based multi-object dynamics model for UAVs is proposed, and the existing RVO-3D model is improved to meet the cooperative obstacle avoidance requirements of multi unmanned aerial systems. By introducing the communication mechanism, the new model can effectively handle the dynamic interactions among multiple subjects, and improve the collision avoidance capability and cooperative efficiency of UAV clusters in complex 3D environments. In addition, a cross-platform simulation framework is developed to validate the performance of the proposed model and support the simulation and control of multi-UAS. The simulation results in simple and complex conflict scenarios show that the improved model exhibits excellent effectiveness and adaptability in multiple complex scenarios, which provides theoretical support and technical paths for the cooperative control of unmanned aerial systems.