| In the context of worldwide military reform,the form and scale of modern warfare have changed dramatically compared with the previous ones,and high precision technology has fundamentally changed the direction of the warfare,with the rapid development of artificial intelligence technology,Unmanned Aerial Vehicle(UAV)is gradually developing in the direction of intelligence and miniaturization,considering that a single UAV has limitations in terms of both range and reconnaissance and search capabilities.Considering the limitations of single UAVs in terms of range and reconnaissance and search capabilities,UAV clusters composed of multiple UAVs have become one of the important modes of UAV operations today.In the process of UAV cluster execution,how to realize the formation and trajectory planning of UAV clusters is the primary problem to be solved,and such problems can usually be attributed to the consistency of UAV clusters,i.e.,whether UAV clusters can avoid self-collision,resume formation after safe obstacle avoidance,and achieve consistent relative position and other information in order to efficiently complete the tasks in a complex battlefield environment.missions efficiently.In order to solve the consistency problem of UAV clusters during formation movement,this paper proposes an UAV cluster formation avoidance algorithm based on joint Virtual sub-target and Boundary force(JVBF),firstly,the leader-follower method is combined with the artificial potential field method,On the one hand,the leader-follower method is responsible for the formation control of the UAV cluster,on the other hand,the artificial potential field method is responsible for the local path planning of the UAV cluster,thus helping the UAV cluster to complete the formation movement.Then,for the formation control of the leader-follower method and the obstacle avoidance problem in the artificial potential field method under the complex environment conditions,on the one hand,the virtual sub-target-based leader-follower method and the optimized modified force function are used to realize the formation control of the UAV cluster,so as to help the following UAVs recover the formation quickly,and on the other hand,the artificial potential field method based on the boundary force is responsible for the local path planning to solve the disadvantages of unreachable target points and oscillation in narrow passages that UAVs are prone to.The simulation results of Matlab software show that the proposed algorithm has higher formation consistency and time efficiency compared with the traditional algorithm.Then,to address the shortcomings of Matlab software in visualization performance,this paper designs an Arc GIS-based UAV cluster formation simulation system.Firstly,a My SQL database is used to store and manage the UAV cluster data,and then,the Acr Scene software in Arc GIS platform is used to dynamically display the UAV cluster formation movement process in the form of animation to further verify the effectiveness and reliability of the algorithm in this paper. |
