UAV Formation Algorithn For Multipath Channel Based On Communication Topology Optimization

Due to small size and synergistic advantages,UAVs are widely used in various fields of human life.To avoid the shortcomings of single UAV such as small radius and endurance,multi-UAV formation has become a worldwide important research direction for civil and military using.Multi-UAV formation faces the test of high dynamics in the mission process.One dynamic challenge is dynamic obstacles in geographical environment,the other one is the dynamic fading in wireless channel environment,which put new demands on the multi-UAV formation's environmental adaptability.Multipath fading and shadow fading in wireless channels cause interference to signal transmission,reducing the SNR when UAVs communicate,affecting the communication connectivity between UAVs,and causing the deterioration of formation's communication topology,which seriously affects the convergence speed of the formation control law.Current UAV formation algorithm only designs the control law and analyzes convergence based on system control theory,which simplifies the analysis of network communication lacking the analysis of wireless channel fading on the formation topology and even formation control from the communication perspective.So how to model and analyze the influence of channel fading on formation control has been a practical problem and research difficulty.This study mainly optimizes the UAV formation algorithm based on the communication topology under fading channel.In order to analyze the influence of channel fading on UAV formation control,this study establishes a communication topology model under multipath channel.In order to realize the obstacles avoidance,we guide UAVs' dynamic formation with the principles including aggregation,alignment and obstacles avoidance in the agents' cluster behaviors.Based on the artificial potential field method,the target point's gravitational field and the obstacles-free area's repulsive field are established to realize the formation self-planning navigation and dynamic obstacle avoidance.Meanwhile,the potential field between UAVs is established to guide UAVs to form a dynamic formation.A fixed time-based consensus control law is designed to realize the formation transformation and speed alignment in a controllable time.Besides,the relationship between the convergence time of the consensus control and the communication topology is calculated and analyzed.Considering the influence of UAVs' communication under fading channel on formation control,we propose two optimization schemesincluding formation optimization and power redistribution to improve the adaptive ability under dynamic environment.Finally,we designed the distributed data transfer mechanism and centralized data transfer mechanism involved in the entire formation control and optimization process.The study uses the MATLAB simulation platform to verify the algorithm.The simulation proves that the algorithm realizes dynamic obstacle avoidance in high-density irregular obstacle environment,realizes the formation consensus in the maximum convergence time through consensus control,and successfully realizes the aggregation,alignment and obstacle avoidance principles of clusters behavior.When the multipath channel's fading increases,the formation's communication topology and formation's consensus control performance are effectively improved by designed topology optimization scheme.