Research On Multi-UAV Collaborative Formation Control Algorithm Based On3D Virtual Simulation Platform

In recent years,multi-unmanned aerial vehicle(UAV)formation flight has become a research hotspot in the field of UAV.Formation control of UAV formation is an important part of research on UAV formation,mainly including formation construction,maintenance,reconstruction and obstacle avoidance,etc.This paper mainly studies the state control,formation control and obstacle avoidance control of UAV formation,the main research contents are as follows:First of all,in the study of UAV formation state of UAV control,based on the distributed consistency theory,studied respectively on the height of the UAV,course Angle and speed control algorithm,formation of UAV through a distributed communication topology adjacent UAV information interaction,gradually adjust their own state and its neighbor drones,eventually form a state tends to specify the formation of the whole.Matlab and Unity3 D were used to simulate the algorithm,and the validity of the algorithm was verified.Second,the study of building fleet formation,based on the control of UAV state,to study the formation control of UAV formation algorithm,specify the formation of stable formation,the aircraft group can be specified through the communication topology construction of formation,using Matlab with Unity3 D algorithm simulation,to verify the effectiveness of the algorithm,to build the aircraft formation visualization.Finally,by using the artificial potential field method and the consistency theory,the collision avoidance algorithm in the formation flight of UAV is studied to avoid the collision and obstacles in the completion of the task of UAV formation.After Matlab is used to simulate the algorithm,Unity3 D is mainly used to simulate the UAV flying to the target point,collision avoidance and obstacle avoidance,reproducing the process of UAV group flying to the designated target to avoid obstacles.