UAV Swarm Control Technology And System Based On Time Delay Prediction

In recent years,the Unmanned Aerial Vehicle(UAV)swarm has received extensive attention both at home and abroad,and has a large amount of research and application in military and civilian fields.The Ground Control System(GCS)can remotely monitor the UAV swarm and is the key to controlling the UAV swarm to complete the flying missions.The continuous development of UAV swarm technology puts higher and higher requirements on the GCS.Traditional GCS has problems such as lack of versatility and interoperability,high coupling,poor scalability and maintainability,which lead to the increase in development and maintenance costs of the GCS and cannot adapt to the expansion of the UAV swarm scale.At the same time,the UAV swarm maintains communication with the GCS through the wireless data link,which inevitably gets the problem of time delay.The time delay affects the real-time and accuracy of the GCS control over the UAV swarm,which is a major factor that restricts the performance of the UAV swarm.In view of the above problems,this paper studies the UAV swarm control technology and system based on time delay prediction,which mainly includes three aspects:(1)Design a GCS for the UAV swarm.Based on the study of our laboratory on the software bus-based open robot control system architecture,this paper applies it to the GCS for the UAV swarm.The system adopts a modular design method and provides a unified communication method and monitoring management service for each functional module through a software bus.(2)Research on the time delay prediction of the UAV swarm.Based on the grey model time delay prediction,a parallel wavelet-grey time delay prediction algorithm is proposed,which can not only denoise the time delay modeling sequence,but also predict the time delay between UAV swarm and GCS in parallel,thus improving the accuracy and efficiency of time delay prediction.(3)Research on the compensation control of UAV swarm based on time delay prediction.On the basis of the time delay prediction of the UAV swarm,the results of time delay prediction are used for the UAV swarm control,and the possible delay is compensated in advance,thus improving the control accuracy of the GCS over the UAV swarm to a certain extentFinally,experiments on the GCS for the UAV swarm designed in this paper are carried out to verify the effectiveness and accuracy of the parallel wavelet-grey time delay prediction algorithm and the compensation control of UAV swarm based on time delay prediction.