Research On Flock Control Strategy And Algorithm For UAV Cluster

Clustering is a common natural phenomenon in nature.Low-intelligence organisms in clusters implement high-intelligence clustering behaviors such as rounding and foraging through simple local interaction rules,which provides a guarantee for the survival of clusters.By studying the behavior of this biological cluster,it not only helps to understand the habits of the biological cluster,but also provides an important theoretical basis for the control strategy of the UAV cluster.This paper studies the swarm control strategies and algorithms of UAV drone clusters.The main work includes the following aspects:1)Research the method of obstacle detection in the swarming process of the UAV cluster.Combine lidar obstacle detection sensor with UAV cluster,analyze the cause of point cloud distortion during obstacle detection,and propose a clustering algorithm based on relative distance and density clusters non-uniform point clouds detected by lidar.2)Research the phenomenon of cluster splitting during the obstacle avoidance process of UAV clusters.Propose a swarm control strategy based on the field of view to ensure that the UAV cluster avoids internal collisions and obstacles while avoiding the phenomenon of cluster splitting.3)Research on the swarm control strategy of the UAV cluster based on sampling.Discretize the motion equation and control input of the second-order drone cluster in continuous time,obtain the motion model and control input vector based on sampling,and construct UAV cluster motion constraints ensure that the upper bound of the sampling period is obtained while ensuring the connectivity of the cluster network.4)Research formations in the UAV swarm control algorithm.Add formation constraints to the sampling-based cluster swarm control algorithm,and guide the cluster to complete the formation task and reach the specified target point by planning the formation constraint movement path.Finally,through the combination of simulation experiments and real experiments,the effectiveness and feasibility of the swarm control strategy and algorithm of the designed UAV cluster are verified.