This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are modeled as three dimensional doublets or ellipsoids that generate local velocity fields, guiding nearby UAVs to execute smooth, collision-free maneuvers without trajectory discontinuities or explicit trajectory replanning. This flow-based approach enables real-time operation and interpretable behavior by leveraging the nature of fluid flow around obstacles via the harmonic properties of Laplace's equation, inherently avoiding local minima common in traditional potential field methods. To establish and maintain coordination among the UAVs, a Virtual Rigid Body (VRB) formation strategy is integrated, ensuring that formation geometry and trajectory tracking are preserved. Simulation results demonstrate the feasibility and scalability of the method for both individual and multi-UAV scenarios with multiple formation geometries encountering moving obstacles. The proposed approach achieves safe, smooth, and computationally efficient avoidance maneuvers suitable for real-time and practical applications.

翻译：本文提出了一种受流体动力学启发的三维避障框架，适用于动态环境中运行的无人机编队。当移动障碍物进入无人机的感知区域时，它们被建模为三维偶极子或椭球体，这些模型会产生局部速度场，引导附近的无人机执行平滑、无碰撞的机动动作，而无需轨迹不连续或显式的轨迹重规划。这种基于流场的方法通过利用拉普拉斯方程的调和特性，模拟障碍物周围的流体流动本质，实现了实时操作和可解释的行为，并从根本上避免了传统势场方法中常见的局部极小值问题。为了建立并维持无人机之间的协同，本文集成了虚拟刚体编队策略，以确保编队几何形状和轨迹跟踪得以保持。仿真结果表明，该方法对于单个及多无人机场景（涉及多种编队几何形状遭遇移动障碍物的情况）均具有可行性和可扩展性。所提出的方法实现了安全、平滑且计算高效的避障机动，适用于实时及实际应用。