Cooperative Control Of Mixed Formation For UAVs

As weapons of reconnaissance, surveillance and attack, Unmanned AerialVehicles (UAVs) often need performing the more complicated and multiple missions.This paper proposes a novel application mode that multiple missions might beperformed during one flight by the small UAVs in mixed formation throughcooperative control.First, the properties of the missions performed by UAVs in mixed formation areaddressed, and some key techniques on cooperative control are analyzed. Based on theabove research, the specific control strategies about target allocation、informationinteraction、information fusion and formation control are designed. Next, consideringthe problem of rendezvousing for UAVs in mixed formation, this paper focuses oncooperative path planning technique. Based on the co-evolutionary coordinative theories,the cooperative path planning algorithm and the real-time dynamic path replanningalgorithm for UAVs were proposed. Finally, the above algorithms are simulated. Thesimulation results show that the method above might solve the “rendezvous” problemfor mixed formation UAVs effectively and also give an approach to solve the problemof real-time dynamic path planning in complex environment.