Research And Simulation Of Cooperative Control Method For UAVs Auto-Formation

UAV equipment is the result of the combination of traditional flight equipment and network technology,and is also an important witness of the rapid development of network technology.The extensive application of UAV formation in the military and civilian fields brings new challenges to its formation control and obstacle avoidance performance in cooperation.Due to the limitations of communication conditions and flight environment,the coordination ability and environmental adaptability between UAVs still need to be improved.Therefore,the formation and cooperative control of UAV obstacle avoidance are studied.Research results on UAV formation at home and abroad,analysis of formation related theories,and make the following work on collaborative control of autonomous formation of UAV: First of all,the virtual flight state estimation algorithm is proposed,the unmanned aerial vehicle(uav)by the location of the adjacent UAV information comprehensive estimate the virtual flight status,as guided by the flight,solved the master-slave structure control algorithm in the lead failure or loss led to the formation of unstable problem.At the same time,the three channel controller is designed,through changing the speed of the unmanned aerial vehicle(uav),heading and altitude of the UAV command control,so as to maintain formation flight formation;Secondly,in terms of the formation cooperative control of obstacle avoidance,structure and artificial potential field method is proposed based on virtual UAV formation coordinated control algorithm,to reasonable improvement of repulsion potential field function,solved the uav formation encounters obstacles formation problem of poor ability of organization,keep the controller combined with uav formation formation,adjust the formation keeping formation and make uav formation flight safety to bypass obstacles to fly to the destination smoothly;Finally,the simulation environment and scene are established,and the formation flight of UAV under the obstacle environment is simulated respectively.The simulation results show that the proposed algorithm can maintain the formation formation and coordinate the control of the UAV in the flight environment with or without obstacles.