Fault Torlerant Uniform Formation For Multiple UAVs Systems Based On The Distributed Approach

Unmanned aerial vehicles(UAVs)are widely used in civil and military fields.As a single UAV is limited by its hardware and camera angle,it may be very difficult to complete complex tasks.The complex and difficult tasks may be completed by multi-UAV systems using formation control methods.Because the formation control of multi-UAV systems usually adapts to more complex environments,and has stronger robustness and fault tolerance.The formation control of multi-UAV systems has become a popular topic in recent years.The thesis conducts research on the most typical uniform mode formation problem in formation control,and the main tasks are as follows.Firstly,for the uniform circle formation of multi-UAV systems,according to architecture characteristics of UAVs,the convex hull algorithm is used to carry out the calculation of the formation target area,including the center and radius of the target circles,also the center and vertices of the target polygons.Secondly,based on the obtained target area information,combined with the far-nearest neighbor principle,the UAV uniform circle formation algorithm is designed to ensure that a group of UAVs can be evenly distributed on the predetermined circular boundary from any position.Similarly,for the uniform polygon formation of multi-UAVs,based on the design idea of circular formation,the uniform polygon formation algorithm of the multi-UAV system is given,and the dynamic switching of the formation from uniform circle to uniform polygon is realized.Finally,the common faults in the multi-UAV system are analyzed,and we can divide them into recoverable and unrecoverable faults according to the characteristics of the system and the nature of the faults.Aiming at the two kinds of faults,different fault handling mechanisms and formation reconfiguration methods are designed to realize fault-tolerant formation control of multi-UAV formation and improve the robustness of the system.The thesis realized the uniform circular formation after autonomous planning of the target area,innovatively expands it to the uniform polygon formation,and improves the flexibility and reliability of the multi-UAV systems through the dynamic switching mechanism and the fault-tolerant mechanism.Besides,the feasibility of the proposed uniform formation control algorithm and fault-tolerant mechanism is verified by MATLAB simulation experiments.