| In recent years,the rapid development of UAV technology has made UAV formation play a vital role in modern warfare and daily life.In the process of UAV formation to perform tasks,the formation track plays a vital role in whether the UAV can successfully perform the established tasks.With the continuous innovation of modern technology,the requirements for communication and security systems are gradually improved.Therefore,it is necessary to give the UAV formation an efficient track considering various spatial environment factors to ensure the accurate execution of the UAV formation ’s scheduled tasks,and design a reasonable formation reconstruction scheme to enable the UAV formation to better deal with sudden threats and improve the mission success rate.Based on this background,this paper studies the UAV formation path planning algorithm and formation maintenance and reconstruction algorithm.The main work content consists of the following aspects:Firstly,starting from the single UAV path planning,the UAV path planning problem model is established,and the UAV path problem is solved by considering various and complex factors such as obstacles and threats in the mission space and the physical properties of the UAV itself.Then,the UAV formation path and formation maintenance problem are solved according to the planned single UAV path.Finally,the formation reconstruction problem of the UAV formation on the established path is planned and calculated.Aiming at the problem of single UAV path planning,the basic RRT algorithm is improved.Considering that the RRT algorithm cannot effectively avoid the threat area when it is close to the threat area,an adaptive step size optimization strategy is designed,and the greedy algorithm is used to cut the path nodes at the planning place.Finally,the path nodes are interpolated by the bidirectional iterative B-spline interpolation function to obtain the final UAV path.After obtaining the single UAV track,the Leader-Follower structure is introduced,and the track is used as the ideal track of the leader.Then the original repulsion field function of the classical APF algorithm is improved to avoid the partial unreachable problem of the UAV.At the same time,the variable step size iterative strategy is used to improve the calculation speed of the algorithm,and the path planning and formation control of the UAV formation are realized.Aiming at the problem of formation reconfiguration of UAV formation on the established track,a formation reconfiguration algorithm of UAV formation based on improved genetic algorithm is designed.The mathematical model of formation selection and reconfiguration of UAV formation in the process of performing tasks is established.The improved genetic algorithm is used to iteratively calculate the formation reconfiguration of UAV formation on the established track.Finally,the formation and switching mode of UAV formation on the predetermined track are calculated,and the formation sequencing scheme and the leader update strategy are designed to deal with the formation configuration of UAV formation in emergency situations. |
