一种基于蜂拥策略的分布式无人机编队控制方法

Distributed formation control method of UAVs based on flocking

在无人机编队控制中,传统的主从式集中编队控制方式需要大量信息交互,对机间通信的要求较高。针对具有虚拟领航者的分布式无人机自组织编队跟踪问题,运用有界蜂拥算法对无人机模型进行求解。首先,提出了一种有界控制输入的蜂拥算法,并对算法的稳定性进行了分析;其次,对无人机进行了建模,提出了虚拟受力点的概念,并对虚拟受力点进行受力分析,将算法中的加速度转化成无人机径向速度与偏航速度的更新,以达到分布式无人机编队自组织以及跟踪虚拟领航者的目的;最后,通过仿真验证了算法和模型的有效性。

In formation control of UAVs,traditional master-slave formation control method need lots of information interaction,and have high requirement for communication among UAVs. For the distributed self-formation of UAVs with virtual navigator,the UAV model was solved by the flocking algorithm with bounded input. Firstly,a distribuded flocking algorithm with bounded input was designed,and stability was given. Then,model was built for UAV,and virtual force point was presented. This paper carried out force analysis of virtual force point to translate the acceleration in the algorithm to the refreshment of UAVs＇ forward velocity and angular velocity. So,all UAVs could organize the formation themselves and follow virtual navigator. At last,the validity of the algorithm and model was verified by simulation.