Formation Motion Planning of Heterogeneous UAV-UGV System Based on Potential Field Method and Rigid Graph Theory

This article pay close attention to the formation control and motion planning problem of heterogeneous multi-agent systems, in which the agents include unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). During the multi-agent formation process, UAVs should track the UGV and avoid obstacles at the same time. Besides, the formation shape of the heterogeneous multi-UA V-UGV system is required to keep stable. To this end, based on the rigid graph theory and the backstepping technique, a distance-based control scheme is designed to address the formation control issue of heterogeneous multi-UAV-UGV system. To achieve obstacle avoidance, an improved artificial potential field based motion planning technology is contrived. Moreover, the distance convergence to the desired value has been rigorously proved via Lyapunov-based stability theory. Finally, two simulation results are provided to verify the efficiency of the designed scheme.