Abstract: The obstacle avoidance control problem of UAVs( Unmanned Aerial Vehicles) and UGVs ( Unmanned Ground Vehicles) named heterogeneous unmanned swarm system is studied using a game-theoretic approach combined with the artificial potential field method. Unlike most multi-agent formation control schemes that only consider the group formation objective, we allow each agent to have individual objectives, such as individual tracking and obstacle avoidance. Specifically, when the heterogeneous unmanned swarm system completes the cooperative formation, each agent needs to track the target point and avoid obstacles in real-time according to its own interests. The heterogeneous unmanned swarm system formation problem is transformed into a non- cooperative game problem between agents because there may be conflicts between the individual and group objectives of the agents. Real-time obstacle avoidance is realized by adding an obstacle avoidance term based on the artificial potential field function into the cost function. And the controller is designed based on the Nash equilibrium seeking strategy to achieve a balanced formation mode of individual and group objectives. Finally, the correctness of the theoretical results is verified through simulation experiments. The proposed method can enable heterogeneous unmanned swarm system to achieve formation motion and real-time obstacle avoidance.

Key words:  heterogeneous swarm systems, formation control, obstacle avoidance, game-theoretic, artificial potential field