Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments

This paper presents a control framework for multi-unmanned aerial vehicle systems that achieves safe and cooperative navigation in complex environments through a unified collision avoidance and trajectory guidance strategy. The principal innovation lies in the incorporation of velocity information into the design of a switching function, enabling more accurate assessment of collision risk and effectively reducing system conservativeness. Building upon this, an adaptive trajectory guidance mechanism is developed using collision avoidance information to ensure safe motion coordination among the vehicles. In addition, a closed-form solution for the dynamic system is derived, and its safety and stability are rigorously established through Lyapunov-based analysis. The effectiveness of the proposed framework is validated through simulation studies conducted on the MATLAB/Simulink platform (version R2020b), confirming reliable cooperative navigation in densely cluttered environments and guaranteeing dynamic safety.