Research On Anti-collision Method Of Wireless UV Cooperative Ormation UAV Formation

With the rapid development of unmanned aerial vehicle(UAV)technology,UAV is widely used in military and civil fields.Compared with single UAV,UAV formation has the advantages of strong coordination ability,long operation time,wide detection range and so on.The cooperation among formations can give full play to the combat performance of UAV formation,so as to effectively improve the success rate of combat missions.As a new type of communication method,wireless ultraviolet(UV)light communication technology has the advantages of strong anti-interference ability,non-direct line of sight communication,low eavesdropping rate,and allweather work.Auxiliary support for communication between UAV formations.Therefore,this paper applies wireless ultraviolet light communication technology to UAV formation control,and studies the problems of fixed-point assembly of UAV formations,collision avoidance between aircraft and avoidance of external obstacles.Its main research contents are as follows:(1)To study the problem of rapid assembly of UAV formations in the environment of strong electromagnetic interference.Firstly,the ultraviolet light beacon model is used to realize the information interaction between the UAV formations.Then,the ultraviolet four-node positioning algorithm is used to realize the three-dimensional positioning of the UAV formations.The potential field function of the rapid assembly algorithm and the formation assembly strategy are developed.Finally,the consistency theory is combined with the pilot following method,so that the speed of the UAV formation can reach a consensus when it is assembled to a fixed area.The simulation results show that when there are more than 6 reference nodes,the 3D positioning accuracy rate can reach 96%,the assembly algorithm can realize the formation of UAVs to form a fixed formation,can maintain the circular motion trajectory after the assembly is completed.(2)Aiming at the formation control problemof UAV collision avoidance in the environment of strong electromagnetic interference,this paper analyzes the reasons why the traditional artificial potential field method leads to the excessive obstacle avoidance path of UAVs,improves the traditional artificial potential field method.The potential field function between aircraft formations and between UAVs and obstacles enables the formation of UAVs to avoid local obstacles while flying to the target point.The simulation results show that the improved artificial potential field method reduces the obstacle avoidance time by 7.38%and the total obstacle avoidance path by 5.8%compared with the traditional artificial potential field method under the same conditions.Realize the obstacle avoidance between the drones and the avoidance of external obstacles,the formation can maintain a fixed formation to fly to the target point.To sum up,wireless ultraviolet light communication is used as the auxiliary communication network of UAV formation,the advantage of strong anti-interference ability of ultraviolet light is used to realize the formation assembly and formation obstacle avoidance of UAV formation in the environment of strong electromagnetic interference.Simulation verification shows that the formation assembly strategy and improved artificial potential field method proposed in this paper can realize the fixed-point assembly of UAV formation and avoid obstacles,can provide theoretical guidance and technical support for UAV formation control technology.