Research On Wireless Ultraviolet Communication Collaborative Uav Formation Flocking Control Method

The Unmanned Aerial Vehicle(UAV)formation control is designed to make use of the local communication relationship of UAVs,to coordinate the response behavior of each UAV so that the overall formation can achieve a consistent state and maintain a fixed geometry.Wireless solar blind ultraviolet(UV)scattering communication is a new type of atmosphere optics communication technology with the important and potential advantages of all-weather,non-line-of-sight(NLOS)and secret communication,which is suitable for the needs of cluster security of UAV formation flight.UV communication technology can be applied to share UAV status information,combined with efficient formation control method can achieve autonomous assembly,collision avoidance,and formation keeping in UAV formation flight.Therefore,this paper focuses on the connectivity properties of UAVs networks based on UV,and a formation control method is improved for UAVs collision avoidance and formation maintenance during UAV formation flight,which guarantees the network connectivity and the speed matching of the multi UAVs when UAVs are moving at high speed and the formation topology is changing rapidly.The main contents are as follows:(1)The probability density functions of two kinds of Random Waypoint(RWP)and Circle movement based model(CMBM)mobility model of UAV are analyzed.Then the expression of the relationship between the network k-connectivity and the network parameters when the UAV ultraviolet nodes adopt these two mobility models is derived.More precisely,we evaluate the effects of node density,transmission power,and data rate on k-connectivity in the two OOK and PPM modulation methods.The numerical simulation results show that mobility reduces the connectivity probability of the network.When the number of UAV nodes is n=500 and the data rate is_bR(28)10kbps,the required transmission power for nodes moving according to RWP is lower than CMBM in order to achieve 2-connectivity of the UAVs network,but it is larger than uniformly distributed nodes.(2)In order to avoid the collision avoidance problem between the UAVs in the classic formation control algorithm.In this paper,the artificial potential function of the formation control algorithm is improved,and the improved algorithm is applied to a single virtual leader UAV and multi-virtual leader UAVs.The simulation results show that the algorithm can ensure that the UAVs speed in the formation is consistent with the speed of the virtual leader UAV in flight.In the course of the flight,the UAVs can avoid collision.Finally,the formation flight is completed with the desired formation.In conclusion,this paper mainly studies the network connectivity properties of UAVs formation network under the cooperative wireless ultraviolet communication,and gives the optimal parameters of 2-connectivity network configuration.An UAV formation control algorithm is improved to ensure UAV collision avoidance,while achieving the goal and state of each machine in coordination.