Cooperative Flight Control Of Multi-UAVs In Narrow Plateau Area

With the increasing complexity and diversity of the operational environment,there are some unavoidable limitations when a single UAV performs its mission.Multi-UAVs cooperative formation flight technology emerges as the times require and has received extensive attention.Multi-UAVs formation forming and formation maintenance control are the key issues in formation flight technology.In this thesis,the collaborative path planning,arrival time consistency and fixed formation maintenance of multi-UAVs have been analyzed and studied,effective optimization schemes and strategies has been proposed.Aiming at the special environment of plateau mountainous area,a reasonable terrain model and wind field model have been established.This thesis analyzed the self-constraints of single UAV and the space and time constraints of multi-UAVs cooperative flight.In the research of multi-UAVs formation forming technology,in order to improve the efficiency of path planning,an improved adaptive Cauchy mutant pigeon-inspired optimization(ACM-PIO)algorithm is proposed.The principle and improvement ideas of the algorithm are introduced in detail.Combined with the solution space optimization strategy,the specific multi-UAVs collaborative path planning steps are given.To ensure that multiple UAVs can reach the forming area at the same time,the path adjustment strategy and speed adjustment strategy are adopted.According to the forming time and the position of each UAV,the voyage and speed are adjusted to complete the formation forming task.In order to solve the problem of multi-UAVs formation maintenance control,a multi-UAVs formation maintenance control strategy based on second-order consistency theory is proposed.The speed and position are selected as the cooperative variables,each UAV can continuously adjusting its own speed,heading angle and pitch angle according to the formation reference point and the information of each UAV.In order to adapt to the flight environment of the plateau narrow mountain area,a synergistic correction technology is added to the formation controller to suppress the cooperative error and measurement error between the UAVs.The formation flight simulation experiments of three fixed-wing UAVs are carried out.The method proposed in this thesis are verified by experiments.