Research On Distributed UAV Swarm Control Tecenology Based On OSDK

In the era of 5G communication,the trend of intelligence and unmanned equipment is increasingly obvious.The demand for unmanned equipment in the military field,logistics and distribution,as well as power and exploration fields is also gradually increasing.On the basis of giving full play to the advantages of single aircraft,the clustered unmanned equipment can implement complex and multi-type tasks and improve the fault tolerance rate of tasks.In the future,it is expected to expand the application of multi-UAV to a wider range of fields.Uav is an important component in the field of unmanned equipment due to its low manufacturing cost and strong controllability.The existing control schemes of clustered UAV are often affected by problems such as difficult development,poor performance of formation control algorithm,poor anti-damage ability and poor stability.In order to solve these problems,we can start with the interactive strategy and control method of UAV cluster and optimize the cluster control algorithm.Most of the existing multi-UAV formation control schemes remain in the simulation stage,because the procurement cost of UAV and various test hardware is high on the one hand,and complex environmental problems such as electromagnetic interference,wind speed and hardware aging need to be taken into account on the other hand.By designing a complete UAV cluster control scheme and formation control algorithm,and completing the algorithm deployment and field flight test,the feasibility of UAV cluster application can be improved.In this paper,a control algorithm for Consistency joint Virtual Potential Field,Consistency Joint Virtual Potential Field,In addition,an OSDK-based Distributed UAV Swarm Control System(DUSS)was designed to realize the rapid deployment and formation control algorithm verification of flying missions in real environments.The CVPF algorithm combines the idea of consistent control with the formation principle of artificial potential field method.By optimizing the unreachable problem of the artificial potential field method and on this basis optimizing the negative impact of inertia factors to achieve UAV formation flight and other functions.DUSS is designed based on modularity to reduce system coupling and improve system expansibility.OSDK development mode is used to realize fast development of control program and improve control stability.At the same time,DUSS fully considers the factors of system control stability in the selection of hardware such as airborne computer,ground station and AD hoc network module.In this paper,the proposed DUSS design scheme is used to build a physical platform and deploy CVPF algorithm on the platform for field flight tests.The feasibility and control performance of DUSS and the performance of CVPF algorithm are evaluated and verified.The results show that DUSS has certain practical application feasibility and the flight performance and stability of the control system are good.After flight test,the CVPF algorithm can effectively realize formation flight and formation switching,optimize the target unreachable defect of artificial potential field method,and reduce the inertial displacement error in field flight test.