Research On Flight Formation Control Method Of Wireless Ultraviolet Cooperative UAV

In recent years,because of its easy operation,good confidentiality and high safety factor.Unmanned Aerial Vehicle(UAV)has been widely studied and applied in many fields,such as military and civil.Compared with a single UAV,bee swarm UAVs can not only meet the needs of a variety of tasks,but also greatly improve the success rate of executing tasks.Wireless ultraviolet communication is a new type of optical communication technology.Because of its all-weather,non-direct vision and covert communication characteristics,bee swarm UAVs can maintain formation interaction in the environment of electromagnetic interference and radio silence.Therefore,this paper combines the wireless ultraviolet communication technology with the formation control technology of bee swarm UAVs,which provides guarantee for the bee swarm UAVs to complete the formation control in complex environment.The main research contents are as follows:(1)The method of using wireless ultraviolet light to guide UAVs formation assembly in complex environment is studied.Firstly,the ranging method based on signal strength of wireless ultraviolet light is used to obtain the position information of each other,so as to ensure the effective acquisition of the position information of UAVs in formation assembly process.The tracking efficiency of the leader-follower algorithm is improved by establishing the tracking error model of the follower UAVs and setting the guidance angle.Finally,the assembly process of one leader and four followers is simulated and analyzed,which proves the reliability and accuracy of the algorithm.(2)In order to solve the problem of optimal flight path selection of bee swarm UAV formation in multi obstacle area.Firstly,the virtual fence model is established by using the wireless ultraviolet light to divide the flight area of each UAV in the formation.Combined with the consistency algorithm,the UAV can keep the formation stable.And the artificial potential field is introduced to make the formation pass through the multi obstacle area smoothly.The simulation results show that the consistency algorithm can make each follower in the same state with the leader and the stable flying of formation.When flying in the area existing obstacles,the flight attitude adjustment of the five UAVs is less than 1m,and they can follow the leader and arrive at the final destination.In summary,this article applies wireless ultraviolet technology to the formation control of swarm UAVs,studies the problem of UAV formation assembly under the cooperation of wireless ultraviolet light,and addresses the problem of formation stability after the swarm UAVs assembly.With regard to the flight path selection problem,the UV virtual fence is designed to ensure the stability of the formation so as to select the optimal path.