基于MAS的无人机新型编队算法

A Novel UAV Formation Algorithm Based on MAS

无人机群极大地拓宽了无人机的应用领域,有效地弥补了单架无人机执行任务的缺陷。本文针对无人机群的运动一致性和编队控制,将领导者跟随者法中领导者与跟随者的控制算法进行集成,设计了一种基于多智能体系统(MAS)的新型无人机编队控制算法。该算法既适用于领导者又适用于跟随者,并且可随机指定无人机为领导者,领导者可以受到跟随者导航反馈的影响,提高了系统的适应性和可伸缩性。理论分析表明,无人机群不会发生碰撞并且能够收敛到期望的编队队形。再经过数值模拟验证了算法的速度和轨迹跟踪能力。结果表明,该算法能保证一群无人机按预定的编队和航迹飞行。

UAV swarm has greatly broadened the application fields of UAV, and effectively remedied the shortcomings of single UAV in mission execution. In this paper, a novel algorithm based on multi-agent system (MAS) is designed, which integrates the leaders and followers control algorithms in leader-follower method for UAV formation motion consensus and formation control. This algorithm is suitable for both leaders and followers, and can randomly designate UAV as a leader. Leaders can be influenced by navigation feedback from followers, which improves the adaptability and scalability of the system. Theoretical analysis shows that UAV formation will not collide and converge to the desired formation. Numerical simulations are performed to illustrate the theoretical results and verify the velocity and trajectory tracking abilities of the algorithm. The results show that the algorithm can guarantee a swarm of UAVs to fly in the scheduled formation and track.