Research On Cooperative Formation Control Algorithm For Multi-UAV

With the rapid development of science and technology,unmanned aerial vehicles(UAVs)are playing an increasingly important role in the military and civilian fields.Compared with a single UAV,multi-UAV formation has the advantage of high success rate of missions,but the application of the formation is still limited.It mainly because that the coordination capability between UAVs and the environment adaptability of the formations are not good.This paper analyzes the reasons for the complexity of the flight environment and believes that communication networks and obstacles are the main factors affecting the formation.Therefore,this article has conducted deep research on the control algorithm of UAV formation in the above environment.The main research contents and achievements are as follows:Firstly,this paper studies the cooperative control of multi-UAV formations in an ideal environment and proposes a control algorithm based on the distributed consensus theory.Each UAV interacts with neighbor UAVs via a distributed communications topology and adjusts its own flight status based on the neighbors' locations to form a cooperating whole.The UAV fleet based on this algorithm not only has the ability to form formations,maintain formations,and transform formations,but also has good self-healing and expansion capabilities.That is,when a member leaves a formation or joins a formation,new UAV formations can be formed easily.These abilities are of great significance in practical applications.Secondly,there are communication delays and input delays in the actual flight environment,which will affect the information interaction between UAVs.Therefore,this paper proposes a formation control algorithm under the time delay environment.The basic idea is that each UAV compares its own delay state with the delay state of its neighbor UAV to obtain the control input at the current moment,and the autopilot adjusts the flight state according to the control input to complete the synchronized control of relative position.In addition,in order to reduce the influence of delay constraints on the stability of the formation,this paper proposes a kind of topology that can actively increase the upper limit of the delay.This measurement improves the delay problem to some extent.Finally,in order to improve the team's adaptability to the environment,this paper focuses on the formation team's obstacle avoidance control algorithm.The algorithm combines the improved artificial potential field method with the consensus theory to generate the behavior to avoid obstacles,formations,and fly to the target point,so that the UAV group shows collective behavior of coordinated formation obstacle avoidance.In particular,this paper redefined the safety radius so that when the UAV approaches the obstacle at a high speed and a small angle,the UAV have enough time to avoid obstacles.After MATLAB simulation,the algorithm shows a strong selfcoordination,proximity interaction,group stability and environmental adaptability.