基于一致性的多无人机编队算法研究

Research on Multi-UAV Formation Algorithm Based on Consistency Algorithm

摘要:

多无人机协同编队是无人机技术发展的重要方向，相比于单架无人机，编队协同能够增大搜索面积，提高无人机执行任务的效率。为了提高编队控制算法的控制效果和执行效率，以一致性理论为基础，针对无人机的特点和实际飞行情况，设计了改进的一致性编队控制算法，对一致性变量的边界问题进行平滑设计以及限幅处理，设计了范数来调整合适的控制量，通过分段规划获得最佳的轨迹控制效果，并在控制协议中加入对目标点控制，同时对控制算法中的参数进行优化设计，从而实现无人机一致性的稳定控制。最后根据无人机领航—跟随的控制逻辑设计了一致性编队算法，实现了不同紧密编队队形任务。仿真结果表明了经过改进的一致性编队控制算法的有效性。

Abstract:

Multi UAV cooperative formation is an important direction of UAV technology development. Compared with single UAV, it can increase the search area and improve the efficiency of UAV mission execution. In order to improve the control effect and execution efficiency of formation control algorithm, making an improvement with consistency algorithm. Based on the consistency theory, according to the characteristics of UAV and the actual flight situation, an improved consensus formation control algorithm is designed, and the boundary problem of consistency variable is smoothed and limited. A new norm, is designed to adjust the appropriate control parameters. The best trace control effect can be obtained by segmented planning. The target point control is added to the control protocol, and the parameters in the control algorithm are optimized to realize the consistent stable control of UAV. Finally, a consistent formation algorithm is designed according to the Leader-Follower control logic of UAV. Different close formation missions are realized. The simulation results show the effectiveness of the uniform formation control algorithm.