Live-fly experimentation for pigeon-inspired obstacle avoidance of quadrotor unmanned aerial vehicles

  • Mengzhen Huo
  • Haibin DuanEmail author
  • Qing Yang
  • Daifeng Zhang
  • Huaxin Qiu
Research Paper


In this paper, we applied a pigeon-inspired obstacle-avoidance model to the flight of quadrotor UAVs through environments with obstacles. Pigeons bias their flight direction by considering the largest gap and minimum required steering. Owing to the similarities between pigeon flocks and UAV swarms in terms of mission requirements, the pigeon-inspired obstacle-avoidance model is used to control a UAV swarm so that it can fly through a complex environment with multiple obstacles. The simulation and flight results illustrate the viability and superiority of pigeon-inspired obstacle avoidance for quadrotor UAVs.


UAV swarm pigeon flock pigeon-inspired model obstacle-avoidance live-fly experimentation 



This work was supported by National Natural Science Foundation of China (Grant Nos. 61425008, 61333004, 91648205).


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Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Mengzhen Huo
    • 1
  • Haibin Duan
    • 1
    Email author
  • Qing Yang
    • 1
  • Daifeng Zhang
    • 1
  • Huaxin Qiu
    • 1
  1. 1.Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical EngineeringBeihang University (BUAA)BeijingChina

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