Distributed hunting problem of multi-quadrotor systems via bearing constraint method subject to time delays

Abstract The static formation structure and time-delays decrease the success rate of multi-quadrotor system hunting non-cooperative targets. This work aims to improve the distributed hunting reliability of the quadrotor system via bearing constraint theory. First, developing from the traditional second-order model and consensus-based algorithm, we construct the dynamic hunting models of the multi-quadrotor system accurately with bearing graph theory. Then, a hunting protocol based on bearing constraint is proposed. The protocol actuates the quadrotors with the same angular velocity in a dynamic spiral formation around the target, which is relied only on the relative bearing state information of neighbors and allows the quadrotors to maintain a fixed angle among each other in the dynamic hunting process. This hunting approach significantly improves the system’s ability to combat emergencies and disturbances. Finally, to solve the communication delays in the system, a class of delay state observer based on Lipschitz condition is proposed. The simulation results are given to illustrate the effectiveness of the proposed bearing protocols and the observer.