Unmanned aerial vehicle formation method based on time-varying network topology

Abstract

The invention discloses an unmanned aerial vehicle formation method based on time-varying network topology, which belongs to the unmanned aerial vehicle control technology, and comprises the followingsteps: S1, enabling an unmanned aerial vehicle to send the speed and the position of the unmanned aerial vehicle at the t moment to neighbor unmanned aerial vehicles, and to receive the positions andthe speeds at the t moment sent by the neighbor unmanned aerial vehicles; S2, calculating the output ui (t) of a formation controller of the unmanned aerial vehicles according to the positions and speeds of the unmanned aerial vehicle and all neighbor unmanned aerial vehicles at the moment t; S3, calculating the speed and the position of the unmanned aerial vehicle at the next moment according tothe output ui (t), the speed and the position of the unmanned aerial vehicle at the moment t, and adjusting the unmanned aerial vehicle; S4, judging whether the speed and the position of the unmannedaerial vehicle at the t + 1 moment meet set conditions or not, if yes, completing formation, otherwise, enabling t to be equal to t + 1, and returning to the step S1. The formation method of the scheme solves the problem that the unmanned aerial vehicles are difficult to form the set formation to sail to the destination under the conditions that the communication environment is poor and a plurality of communication links cannot be well maintained.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle formation method based on a time-varying network topology. Background technique [0002] Unmanned aerial vehicles are gaining more and more attention in practical applications, such as disaster assistance, agriculture, power transmission and so on. These tasks often require multiple drones to coordinate and complete tasks more efficiently through information interaction and transmission. Studies have shown that maintaining an orderly formation of multiple drones can save energy consumption and make the communication link between them more stable. Therefore, it is of great significance to study the formation of UAS composed of multiple UAVs. [0003] Many existing technologies can control multiple UAVs to form a set formation, among which the control technology based on the consistency problem is the main one. Many proposed alg...

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Problems solved by technology

[0005] Aiming at the above-mentioned deficiencies in the prior art, the UAV formation method based on the time-varying network topology provided by the present invention solves the problem that it is difficult for UAVs to form a network when the communication environment is poor and multiple communication links cannot be maintained well. The problem of sailing to the destination in the set formation formation

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