Research On Wireless UV Collaborative UAV Clustering And Control Method

In recent years,Unmanned Aerial Vehicle(UAV)technology has developed rapidly and has been widely used in many fields.UAV is an unmanned operation platform with autonomous planning capability,and UAV Swarm(UAVs)cooperative technology can combine individual UAVs through different formation control algorithms,which greatly extends the UAV application scenarios.UAVs can be combined with different formation control algorithms to greatly expand the application scenarios of UAVs.The wireless ultraviolet light in the "day-blind" band can achieve non-direct vision communication using aerosol particles,and its confidentiality and environmental immunity can provide a reliable means of communication for UAVs and reduce the electromagnetic interference problem in complex environments.In this paper,we address the communication energy consumption and topological stability problems of UAVs,combine the long aircraft-wingman model and distributed control algorithm to study the UAV cluster head election algorithm,and also take the cluster head as the core to study the cooperative control problem of UAVs in the cluster.Main research contents are:(1)A UAVs clustering algorithm suitable for UV optical communication in dynamic scenarios is used to improve the network survival cycle of UAVs in response to the clustering requirements and energy balance requirements of UAVs networks in battlefield environments as well as complex interference environments.The algorithm combines the characteristics of UV optical communication such as anti-jamming,high confidentiality,and non-direct vision communication to provide a reliable and stealthy communication means for UAVs.The algorithm is made more applicable to the highly dynamic scenario of UAV flight by a reasonable clustering factor.Finally,a 2000-round simulation analysis is performed on 100 UAV nodes under a Gaussian Markov random motion model,the results show that compared with the Low Energy Adaptive Clustering Hierarchy(LEACH)protocol,the Improved LEACH(ILEACH).algorithm and the highest node degree algorithm,this algorithm can balance the number of cluster heads and the network consumption of UAVs,and can improve the network life cycle by up to more than 16%and the data transmission by up to 109%,while reducing the average number of cluster heads by 57%.(2)For the target assignment and inter-machine collision avoidance problems in UAVs formation reconfiguration in the battlefield environment,the formation target assignment algorithm is improved using the Hungarian algorithm,and the formation reconfiguration time and energy consumption are used as the cost functions to give the optimal spatial location for formation reconfiguration.In addition,a non-uniform UV warning potential field is utilized to assist the UAV in inter-aircraft collision avoidance.Compared with the conventional artificial potential field,the collision avoidance path of this algorithm is smoother and the UAV flies farther in the same time.Finally,the simulation analysis of the algorithm shows that the time and energy consumption of the target assignment algorithm can be reduced by 3.1%compared with the traditional method,and the time consumption can be improved by 26%.In summary,the weighted clustering algorithm used in this paper,combined with wireless ultraviolet optical communication,can meet the clustering requirements of UAV formations in dynamic scenarios,and the formation reconstruction algorithm of UAVs under the clustering model is studied to solve the formation assignment and inter-aircraft collision avoidance problems and provide a reliable strategy for cooperative control of UAVs.