分布式多无人机编队飞行的阵形保持策略

Distributed Maintain Strategy for Multiple Unmanned Aerial Vehicle Formation Flight

设计了一种仅采用相对位置偏差状态进行多无人机编队阵形保持的分布式保持策略。首先,分析多无人机编队的特点及其阵形保持问题,提出其阵形保持策略的要求,然后设计一种采用局部阵形状态制定的阵形保持策略。该保持策略从非一致性的冗余状态中进行简洁的处理,判断阵形的保持状态,采取相应的保持机制。最后,应用于几个多无人机编队飞行的例子,仿真结果验证了该保持策略的可行性。

A distributed maintain strategy for multiple unmanned aerial vehicle formation flight was designed by using comparative poison deviation, Characters of multiple-uav formation and problems for formation maintenance were analyzed, requirements for the maintain strategy were propounded and a distributed maintain strategy was designed based on partial states of the uav-formation. The strategy uses a simple method to extract formation correction from redundantly inconsistent information, speculates the requirement of formation maintenance, takes appropriate maintain method for different situation. The simulation examples validate the feasibility of the strategy,