Algorithm 1 Drone control algorithm.

1:Initialize the parameters $d_{\min },\mathrm{urr},\lambda$ 2:while the drone has not reached the target do 3:   for each position ${\mathbf{p}}_j$ (drones and obstacles) do 4:     Calculate the repulsive vector ${\mathbf{r}}_j\left(t\right)={\mathbf{p}}_i\left(t\right)-{\mathbf{p}}_j\left(t\right)$ 5:     if $\parallel {\mathbf{r}}_j\left(t\right)\Delta t\parallel <d_{\min }$ then 6:        Calculate the weight ${\beta }_j$ 7:     end if 8:   end for 9:    Calculate the resulting vector: $$\mathbf{R}\left(t\right)=\sum _{j=1}^{N_i}\left({\widehat{\mathbf{r}}}_j\left(t\right){\beta }_j\right)+\lambda {\mathbf{v}}_d\left(t\right)$$ 10:    Update the drone’s position: $${\mathbf{p}}_i(t+\Delta t)={\mathbf{p}}_i\left(t\right)+\mathbf{R}\left(t\right)\Delta t$$ 11:end while