A Robust Formation Method for Unmanned Aerial Vehicle Swarms under Limited Communication Conditions

Abstract

The invention discloses an unmanned aerial vehicle group robust formation method applied to a communication limited condition. According to the method, the kinetic formula of each unmanned aerial vehicle changing with time is provided with communication time delay considered; relationships between formation robustness and communication connection network topology structures are derived according to the kinetic formula; a scale-free communication connection network with different power exponents is generated under the condition that the total number of the communication connections of an unmanned aerial vehicle group is fixed; the relationship between the formation robustness and communication connection network degree distribution is analyzed, a topological structure with the strongest robustness is obtained; after the topological structure is determined, each unmanned aerial vehicle can obtain the flight data of neighbor unmanned aerial vehicles; and the motion of the current unmannedaerial vehicles is controlled through a control algorithm, so that robust formation flight is realized. With the method adopted, robust formation control over the unmanned aerial vehicle group is achieved with no increase in communication connection establishing cost and no communication time delay; and the robust formation of the unmanned aerial vehicle group under the communication limited condition can be effectively achieved. The complexity of the algorithm of the method is low; and the calculation precision of the method is high.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for robust formation of unmanned aerial vehicles under the condition of limited communication. Background technique [0002] With the advantages of flexible maneuverability and strong controllability, drones have been more and more widely used in express delivery, disaster detection, pesticide spraying, film and television shooting, military reconnaissance, etc. [0003] When multiple UAVs cooperate to complete the task, the formation flight control algorithm is one of the key technologies. It can effectively improve the flight efficiency and flight safety of the UAV group in the mission environment, and directly affect the success rate of the UAV group to complete the task. . [0004] During the actual flight of the UAV, due to the complex and changeable external environment, there may be limited communication. Due to factors such as the limited speed...

AI Technical Summary

Problems solved by technology

Communication delay will affect the formation efficiency of UAV groups and increase the risk of formation

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