Research And Implementation Of Dynamic Role Assignment Based Multi-UAV Formation Control

In recent years,with the rapid upgrading of the intelligent robot's hardware and software technology,robots are more and more able to deal with complex tasks like human beings,so robots are increasingly used in our human life and serve human beings.However,with the increasing application of robots,the task content of robots is more complicated,and the working environment is more extreme and more dangerous,such as disaster relief environment,high pressure and high radiation area.The task complexity and changeable working environment put forward higher requirements for the robot,so the function of the robot is more and more abundant.But the solution only to enhance the single robot's functions will lead to the robot system structure more complex,but after all,a single intelligent robot has always been subject to volume,energy,load and processing capacity constraints.To solve this problem,experts proposed multi-robot cooperation to complete the task.As a kind of robot,the UAV can fly flexibly,and is more suitable for tasks for large area and large range.It is widely used in the fields of crop detection,terrain survey and military reconnaissance.When many UAVs complete complex tasks,they usually need to be arranged in order to perform tasks more efficiently.Therefore,multi-UAV cooperatively executing task is based on that the multi-UAV can effectively complete the formation,and multi-UAV formation is also a typical direction of multi-UAV collaborative technology research,so this paper mainly studies the UAV cooperative formation technology.This paper focuses on UAV cooperative formation technology.First,dynamic role assignment algorithm based formation control is studied;then,considering the formation demands to keep moving and avoid obstacle,extend formation control and put forward the self-adjustment mechanism used in formation maintenance and subject monitoring based idea to change formation,and implement the two technologies;At last,a formation simulation system is developed and the simulation experiment of UAV formation is carried.The work of this paper is mainly embodied in the following three aspects:1)In order to achieve multi-UAV formation,this paper proposes a method,which is based on the robot swarm framework and the dynamic role assignment algorithm.Its characteristics are that it can obtain the UAV's global information as formation basis,and can control formation by distributed control method.It overcomes the difficulty of coexistence of global information and distributed control method,and embodies two advantages of formation efficiency and control robustness.2)In order to meet the needs of the UAV's task execution,this paper studies the formation maintenance technology and formation transformation technology of multiUAV.According to the error accumulation and diffusion problem of past research on formation maintenance,using the method of dynamic comparison with initial formation,put forward the self-adjustment mechanism to maintain the formation;On the fact that previous formation transformation is not immediate,experiments prove that the transformation method based on dynamic role assignment algorithm,which is proposed here,can response in shorter time.3)In order to verify the effectiveness of formation algorithm,a formation simulation system is designed and implemented on the basis of the above research.The system can control multi-UAV formation by interactive interface,and can visualize formation effect.Based on the system,the UAV formation simulation experiment verifies the reliability and practicability of the formation algorithm again.