Multi-aircraft Cooperative Formation Control Technology Based On Internet Of Things

Multi-UAV formation has a broad application prospects in the civilian and military fields.Internet of things technology has also been rapid developed in recent years.The combination of UAV formation and Internet of things technology will greatly promote the rapid development of UAV formation technology.In this paper,mutiple multi-rotor UAVs are the research object.This paper focus on the study of the formation structure of UAVs based on the Internet of things and the control strategy of aggregation,maintenance and reconfiguration of formation.The multi-UAVs formation flight test platform based on Internet of Things is established,which has great reference value on the engineering realization of UAVs formation.Firstly,based on the requirement of the acquisition and exchange of formation's information,wireless object network architecture based on ad-hoc wireless network is established and the centralized formation control strategy is selected.Based on this architecture,the factors influencing the formation are analyzed,and the safe distance of the formation and several formation types are designed.Secondly,aggregation,maintenance and reconfiguration process of formation are designed.The position planning algorithm of UAV formation based on ant colony optimization is designed.The algorithm of formation control based on consensus thoery is designed using virtual-leader.Thirdly,according to the mission requirement,a formation flight test platform based on Internet of Things is established.And the data fusion algorithm of GPS and accelerometer is designed to meet the requirement of high precision of relative position in the formation process.Aimed at the requirements of UAV formation on the communication of the Internet of Things,a real-time communication protocol is designed between UAVs and ground control center.Finally,the multi-UAV formation control system based on Internet of Things is tested.The test results show that the local area network have real-time information interaction capability,which can accomplish the multi-rotors UAVs formation mission.