Uavs Formation Based On Self-organizing Behavior

In the world,the role of Unmanned Aerial Vehicle is becoming increasingly evident.It can replace the man-machine to do a lot of complex and dangerous works,which can be very effective in reducing casualties.It is the pioneer of combat.A large number of different types of different performance UAVs are putted into the battlefield to perform a variety of combat missions.So we really inevitably need a reasonable and efficient self-help collaborative control means to enhance the implementation of its mandate to improve combat effectiveness.The lack of reasonable means of resource allocation,UAV s cannot be in accordance with a certain law to complement each other,and even multiple UAV will be between the internal conflict and the risk of collision,then the task cannot be completed.So put forward a reasonable control means for a number of UAV of a desired formation,the common task to complete the task is imminent.This article will discuss how to effectively form a formation between multiple UAVs and avoid internal collisions while maintaining flight.Although there are many scholars who have made a lot of research and contribution for UAV formation control problems,however,a lot of control methods and control theory have some defects,and many algorithms are still in the phase of theoretical simulation researching,and UAVs is a complex system of multiple input and multiple output,the design of the craft is very difficult.It need more parameters control.But usually it is difficult to achieve the desired effect with the traditional experience,and some excellent intelligent algorithm calculation is complicated,slow convergence speed,poorer of real time effect,and some of the most common methods are lacking of strong robustness and stability.It is difficult to ensure UAVs maintain the original formation to guarantee the task execution or generate fo rmation when they face to malfunction or encounter problems.A lot of the formation are formatted in predefined system at first,there is no ability to adjust itself.Before this mechanistic formation assumes that the network connectivity of the whole mars halling system is always unbroken,but this is not true in fact.In view of the above problems,this paper proposes a drone formation based on self-organizing behavior.Under distributed control,the quasi static communication topology structure,based on the Reynolds rules and the information consistency,pouring between UAVs by the known information of detected.Finally,formation can be form in any location through iterative optimization algorithm.And based on the plus side delay rules combined with the proposed artificial potential function,it can guarantee to the network is connecting under the condition of the initial system.So in the process of the formation,the network won't disconnect and the topology of the communication will not change.Finally through MATLAB simulation experiment,comparing the presence of virtual leader formation and no virtual leader formation simulation,the final results show that it can achieve the desired position and converge to a consistent state regardless of whether there is a virtual leader.It fully verified the feasibility and the effectiveness of the algorithm.