Study On Formation Capturing And Formation Change Of UAVs Under Ultraviolet Light Cooperation

With the continuous maturity of unmanned aerial vehicle(UAV)swarm technology and intelligent algorithms,UAV formation cooperation has been widely applied in civilian and military confrontations.In recent years,multi-UAV cooperative capture and UAV formation transformation have attracted the attention of many scholars due to their important theoretical value and extensive application prospects.When UAV formations collaborate in a confrontational environment,it is necessary to ensure a secure and confidential communication link for information transmission.After establishing communication,the focus is on how to make the UAV formation more flexible and efficient in executing capture tasks.Therefore,this paper uses wireless ultraviolet(UV)technology to achieve UAV intercommunication in a formation,and combines the optimal alliance generation strategy with a multi-UAV cooperative capture strategy to implement the UAV formation capture algorithm.Since the task environment is always in a changing state,it is also necessary to consider the uncertainty of UAV positions and velocities caused by the environment during flight.To avoid collisions during formation transformation,a collision avoidance buffer zone is set for each UAV.The main work of this paper is as follows:(1)In order to ensure reliable communication within UAV formations,this paper uses a directional UV LED node communication model as a wireless UV omnidirectional antenna device,and reasonable node distribution is used to achieve three-dimensional spatial beam coverage.Combined with the optimal alliance generation method,the UAV formation is segmented and recombined,and the target is tracked and captured using a region minimization strategy.The proposed algorithm is analyzed through simulations in different dimensions,and the results show that when capturing multiple targets in two-dimensional and three-dimensional scenarios,the proposed alliance capture algorithm consumes less energy and has clearer division of labor within the UAVs,resulting in higher capture efficiency compared to non-alliance capture algorithms.(2)Considering the environmental changes or unexpected situations encountered by the UAV formation during formation transformation,a buffer zone is set for each UAV to ensure that no collision occurs between UAVs or between UAVs and obstacles,thus ensuring the safe arrival of each UAV at the specified target point.Therefore,this paper proposes a UV communication collaborative BVC improvement algorithm,which constructs a buffered and uncertain-perception Voronoi cell for each UAV,constraining the movement of each UAV within its corresponding Voronoi cell to keep the collision probability between UAVs below a specified threshold,thus achieving collision avoidance in UAV formation transformation.In summary,this paper addresses the problem of multi-target capture by UAV swarms.Firstly,the paper uses UV communication technology for information sharing within the UAV swarm.Then,a region minimization capture strategy based on alliance generation is proposed.Furthermore,to address the problem of UAV swarm formation transformation,a buffer zone is designed based on UV communication cooperation to prevent UAVs from colliding during formation transformation.Finally,simulation experiments in 2D and 3D scenarios are conducted to validate the proposed approaches.