Research On Cooperative Formation Keeping Control For Multi-UAV

Formation keeping control is the research focus of multi-UAV cooperative formation flight, it is becoming more and more popular with the majority of researchers. This paper aims to apply behavior-based control strategy for multi-UAV formation keeping, the main research contents as follows:Firstly, the fundamental question of multi-UAV cooperative formation was elaborated and formation control strategy was researched, four control strategies of formation flight were analyzed emphatically and their advantages and disadvantages were compared, and then the behavior-based control strategy was elected as the main research in this paper.Secondly, the environmental model and formation movement and kinetic model were established. The terrain threat model and radar threat model were established as obstacles in the environment of formation flight. The geodetic coordinate was chosen and the formation movement model was established on the basis of the UAV model in this paper.Thirdly, according to the requirements of UAV formation mission, four sub-behaviors called move to goal, avoid static obstacles, keep formation and avoid other UAVs were designed. The discriminant function was introduced in the behavior of avoiding static obstacles to avoid the obstacles reasonably; the leader-referenced and the neighbor-referenced were used to determine the position in the formation; the dynamic dead zone method was introduced in the behavior of keeping formation to form the formation rapidly. The inhibition method was chosen to fuse the four sub-behaviors as the ultimate behavior output. And then the algorithm of behavior-based formation keeping for multi-UAV was designed.Finally, the simulation was carried out on MATLAB. The simulation includes signal UAV navigation, multi-UAV formation forming, multi-UAV formation keeping with obstacles and without obstacles and multi-UAV formation transforming. The simulation results were analyzed. The experimental results show the algorithm can effectively complete the mission of formation. At last, the contents and the results of this study were summarized as well as thefuture works are discussed.