| As the performance of UAVs increasing,UAVs are used widely in civil and military activities.Due to the different flight environment and task difficulty of drones,it is difficult for a single drone to complete the task alone because of its own power and load capacity.Collaborative operation of drone clusters is the task requirement of current technological modernization.However,the actual flight cost of the cluster relatively highing,and large-scale cluster simulation experiments lacking,It is difficult to predict the problem of cluster coordination during the flight.The design of a simulation platform for drone clusters is the key to solving the problem of drone cluster collaborative flight simulation.In response to the above problems,this paper proposes to build a real-time,distributed and visualized drone cluster simulation platform for drone cluster simulation,and based on this platform,the UAV cluster obstacle avoidance strategy formulation and simulation verification are carried out.The main research contents are as follows:(1)Aiming at the design of the UAV cluster simulation analysis platform,a real-time,distributed,and visualized multi-module simulation platform design framework is proposed.The framework designs three parts,including state configuration interface module,decision-making iteration simulation module,and trajectory demonstration interface module.Through this framework,synchronous design of multi-module can be realized,the progress of collaborative work can be accelerated,and collaborative sub-module research and maintenance simulator system can be achieved.(2)Aiming at the problems of real-time flight and data visualization of UAV clusters,a simulation platform for UAV clusters is designed and implemented.The platform uses dynamic link library technology of TCP/IP protocol to improve the algorithm efficiency from the state configuration interface module to the decision-making iteration simulation module,and uses Socket data transmission technology to realize the data visualization display from the decision-making iteration simulation module to the trajectory demonstration interface module.(3)In order to verifing the UAV cluster simulation platform,the UAV cluster based on boundary obstacle avoidance strategy and regional obstacle avoidance strategy of the Dubins algorithm simulation verification was carried out.This obstacle avoidance strategy can reduce the collision probability by adjusting the area coefficient Q＿fs.The simulation results show that,compared with the no-avoidance strategy,the UAV cluster only joins the boundary obstacle avoidance strategy and joins the boundary strategy and the regional obstacle avoidance strategy to reduce the collisions by80.14% and 86.04%,respectively. |
