Implementation Of High-speed UAV Cluster Control

High-speed UAV cluster flight is one of the important uses of UAVs in the field of military in the future and has quite broad prospects.This thesis mainly studies the formation maintenance control scheme and the collision avoidance control scheme of the UAVs in the formation flight of the high-speed UAVs.In view of the problem of formation maintenance,this thesis studies and establishes the relative motion model of multiple UAVs.The formation control model based on the leader-follower mode is adopted in this thesis and establishes formation maintenance control law of multiple UAVs,that is,formation maintenance controller uses spacing error and maneuvering error of the leader-UAV and the follower-UAV,and outputs the corresponding control commands to the followers to maintain the desired distance in flight.On the basis of conditional feedback principle,a leader command controller is designed to optimize and improve the traditional formation controller,which strengthening the connection between the leader and the followers.Particle swarm optimization(PSO)algorithm based on Cauchy mutation is used to determine the control gains to ensure the formation flying of the UAVs in accordance with the established formation.Aiming at anti-collision problems of UAVs,an anti-collision control scheme for obstacle avoidance and collision avoidance between UAVs based on artificial potential field algorithm is proposed in this thesis.On the obstacle avoidance problem of UAV,a new obstacle potential field function is proposed for the shortcoming of traditional artificial potential field algorithm,and its feasibility is verified by an example.When performing the obstacle avoidance behavior,each UAV introduces the obstacle avoidance velocity field and the gravitational velocity field,and obtains the obstacle avoidance course command through the geometric relationships of the velocity vector to complete the obstacle avoidance behavior of the UAVs.On the collision avoidance problem between UAVs,the collision avoidance course command is obtained in the same way.In this thesis,the joint control scheme of the formation maintenance control and the collision avoidance control of the UAVs is proposed.Through the cluster flight simulation test,it is verified that each UAV has certain obstacle avoidance ability during the formation flight which maintaining the safety distance between the UAVs.