Research On Formation Control Technology Of Multi-UAV Network Area Coverage

With the further progress of communication technology and hardware equipment,UAVs have gradually taken on the execution of part of tasks in military,civil and other fields.In order to give full play to the characteristics of UAVs with relatively low cost,easy deployment and high mobility,UAVs tend to appear and execute tasks in clusters in more occasions.Large-scale UAVs cluster brings many problems: The scheduling logic of communication resources between UAVs is complicated and chaotic,and the energy loss is excessive due to wasted resources.It is difficult to control the mobile formation,so it is necessary to have methods to maintain,change and reconstruct the formation of large-scale UAV formation.During the execution of most missions,the cluster has little access to supplies or decisions from ground stations,and in most cases,autonomous decisions about the mission are required.Based on the above multi-point problems,this paper,from the perspective of the AD hoc network of unmanned aerial vehicles(UAVs)detached from the ground station,limits the task to the basic task of area coverage,and discusses a feasible formation control algorithm that can complete coverage and solve the above problems,which is of great significance for the formation control of large-scale UAVs.Firstly,aiming at improving the final coverage of UAV AD hoc networks in coverage tasks and network connectivity during task execution,this paper proposes a three-stage formation clustering algorithm based on multiple virtual force control to maintain both high coverage and high connectivity.Based on the traditional virtual force algorithm,this paper designs a new movement control strategy based on quadruple virtual force to dynamically manage the distance between machines.This strategy is deployed in a coverage task divided into three phases.Combined with this strategy,a formation clustering algorithm is designed to solve the difficult problem of FANET network management.Through simulation and comparison,the proposed algorithm is more effective and practical than the traditional algorithm in coverage and connectivity.In addition,in order to ensure the endurance of UAV ad-hoc network without additional supplies,and to improve the final remaining power of UAV and the load balance of UAV electric energy in ad-hoc network,this paper proposes a UAV cluster energy-saving coverage deployment algorithm based on intelligent obstacle avoidance,which takes into account the no-fly zone constraints of various countries’ airspace in the actual scenario.In-flight obstacle avoidance constraints and full coverage constraints are combined to optimize the final hover height and ground flight distance.The simulation results show that the proposed algorithm can effectively retain the remaining power of UAV for the execution of area coverage tasks,and the real-time performance of the algorithm is good,which has certain practical value.