Autonomous Cooperative Control For Unmanned Aerial Vehicles

With the development of science and military technology,unmanned military equipment has been gradually put into modern wars.Unmanned aerial vehicle(UAV),as a cheap,flexible and efficient military equipment,is increasingly replacing manned aircraft for military missions.However,it’s unrealistic to complete the mission by one UAV due to the ever-changing war situation.Nowadays,large numbers of UAVs,with different kinds and functions,are dispatched in the battlefield in modern wars.They can complete the mission alone or in a group.The study on autonomous cooperative control for multiple UAVs has been hot area,which aims to research that multiple UAVS can complete missions with less manual intervention and improve the effectiveness of the whole system.The paper can be divided into four parts to research the problem of the autonomous cooperative control for multiple UAVs.First,the paper describes the concept of autonomous cooperative control,and proposes to divided the issue into task assignment,path planning,track coordination,and flight control at a hierarchical level to reduce the complexity of the solution.Meanwhile,the paper models the task assignment for reconnaissance as an example,with the multi-objective optimization index function and many nonlinear constraints.Second,the paper proposes the idea of path planning in task assignments,based on A Star algorithm,to make the result more reliable.Also,a method of Multi-Objective Particle Swarm Optimization(MOPSO)is used to solve the assignment problem of UAVs,effectively obtained the mission execution sequence,based on the simulation results.Then,two methods of smoothing trajectories of UAVs have been proposed in this paper,so that the smooth trajectories can meet the performance constraints of UAVs and can be tracked by UAV.Meanwhile,a guidance law for tracking trajectory is designed to ensure that the smoothing trajectory can be tracked,which shows that the simulation results can satisfy the requirement of the tracking error.Finally,a method of collision avoidance for UAVs,based on Model Predict Control(MPC),has been reported in the paper.The purpose of the method is to resolve the flight path conflict between different UAVs.The method has a distributed system,and every UAV only optimizes and adjusts the trajectory itself.Therefore,the problem of collision avoidance is simplified so that the UAV can adjust the trajectory in real time.