Collaborative Formation Control Algorithm And Simulation For UAV Swarm

With the development of wireless communication technology,UAV is widely used in civil and military applications.Due to the small load,small size and small coverage area of single UAV,it can not meet the needs of complex tasks.In recent years,the research on UAV swarm cooperative formation control has developed rapidly.The traditional cooperative formation control method has communication bottleneck,while the cooperative formation control method based on swarm intelligence can only form loose formation.In addition.In different task scenarios,the corresponding collaborative formation control algorithm needs to be designed to meet the task requirements.The cooperative formation control of UAV swarm is mainly studied.The key research contents of this thesis are divided into the following three parts::1.The theory and method of cooperative formation control for UAV swarm are studied.The related theories of UAV swarm cooperative formation control are analyzed.According to the rules of separation,formation and cohesion,the swarm motion model is established.A collaborative formation control algorithm based on multiple virtual control points for UAVs is proposed.Taking the state deviation between the virtual control point and the neighboring members as reference,the control input of the member itself is adjusted.A simulation environment is built to achieve formation stability and movement state consistency of UAV cluster under the control of a small number of members in the cluster.2.The cooperative formation control method of UAV swarm in decentralized scenarios is studied.Clustering and scale estimation of scattered tasks are realized based on mean shift method.An UAV swarm clustering algorithm is proposed for decentralized mission scenarios,and a divide and conquer based collaborative formation control algorithm is proposed for collaborative formation flight of subset groups.In the simulation environment,decentralized task scenarios are built,and the coordinated formation flight of the subset group is realized while the subset group is reasonably matched with the task size and task priority.3.The cooperative formation control method of UAV swarm under formation reconstruction is studied.Firstly,the traditional formation reconstruction methods are analyzed.The traditional formation reconfiguration is based on fixed path design,and every two types of formation switching need to redesign the path,which is very complicated to realize.In this thesis,a collaborative formation reconstruction algorithm based on autonomous distribution of unmanned aerial vehicles(UAVs)is proposed,and a collision avoidance mechanism between collaborative aircraft is established.Based on the first-order state model of elastic force,a cooperative control model of reference spring is established.After analysis,the deficiencies are found,and an improved cooperative collision avoidance model of simulated spring is proposed.Formation reconstruction is realized based on information sharing The formation reconstruction under static traction and dynamic traction can be realized while maintaining the safe distance between UAVs.