Research On UAV Swarm Formation Control Technology

The formation control of the UAV(Unmanned Aerial Vehicle)swarm is the basis of the collaborative operation of the UAV swarm,and has been valued by researchers.In the process of formation tracking observation of multi-UAVs,how to maintain the stability of formation in an environment with obstacles and carry out high-efficiency formation transformation is the focus of formation control research.The main research contents of this paper are as follows:(1)The basic problems of cooperative formation control of UAV swarm are analyzed in this paper.The behavior-based formation control strategy is taken as the main research object,and four common formation control strategies are analyzed.According to the formation maintenance mode of the pilot reference,combined with the stand-alone motion model of the drone,the formation movement model of the UAV swarm is established.(2)The formation transformation of the UAV swarm is studied.The method of formation matrix is used to describe the formation,and the UAV formation library is established.Considering the dynamic formation transformation under the obstacle avoidance situation,the scalable formation transformation evaluation criterion is constructed,which forms the obstacle avoidance situation.The optimal transformation strategy of man-machine cluster;based on Dubins path,the real-time track in the process of formation transformation can be generated,which ensures the smoothness of UAV movement during formation transformation.(3)The method of maintaining the formation of the UAV swarm is studied.The behaviorbased control strategy is used to design the formation control algorithm,and the corresponding formation control behavior and behavior selection strategy are designed to deal with obstacle avoidance,poor communication status,internal collision of the UAV swarm,etc.,and maintain the formation during the mission.Stable and efficient formation transformation.The effectiveness and stability of the proposed formation control algorithm are verified by the UAV swarm formation tracking flight experiment.