Research On Heterogeneous Multi-UAV Autonomous Flocking Algorithm

Unmanned aerial vehicle（UAV）has the characteristics of good coordination and strong function,and it can be widely used in modern war and civil fields.At present,the research on UAV flocking in the academic circle is still generally confined to the level of UAV with single research function.This paper intends to carry out scientific research from the perspective of heterogeneous multi-UAV autonomous flocking algorithm,and the main researches are as follows:（1）The flocking model of UAV is built.In order to control the UAV flocking,the author started from the three principles of UAV flocking:closing to each other,avoiding collision and keeping consistent group speed.By introducing external input force,the author established a UAV flocking model that can avoid the separation phenomenon during the flight of UAV flocking.Experiments show that the above model can realize the purpose of multi-UAV in the formation of UAV flocking without collision.（2）In this paper,the angle-controlled lightweight heterogeneous UAV flocking algorithm（ACHF）and the ring-controlled heterogeneous UAV flocking algorithm（VRCHF）are proposed.Based on the feature that different types of UAVs have different positions due to different functions,this paper proposes a lightweight ACHF algorithm,which is conducive to breaking the current situation that there is only a single functional UAVs of formation and ensuring the formation of UAV flocking.The VRCHF algorithm with a large amount of computation makes up for the deficiency of the lightweight ACHF algorithm,solves the boundary jitter problem of the ACHF algorithm,and can be distributed more uniformly in the periphery of the transport UAV flocking.（3）A method of correction based on location is proposed.Based on the consideration that the flight path of UAV is affected by the natural breeze,this paper proposes a rectification method to meet the flocking requirements of multiple UAV,and tests the flying effect of single UAV with this method,so as to verify the effect of heterogeneous UAV flocking algorithm in the wind environment.This paper studies the flocking algorithm of UAV based on functional heterogeneity,which provides a new idea and a feasible solution for the research of UAV cluster,and has certain enlightenment effect for the future research.