The present invention relates to a method for steering a
drone cluster based on differential acceleration, and belongs to the field of
drone cluster formation. The present invention comprises the following steps: S1: obtaining the initial
drone position and establishing a drone cluster dynamics equation; S2: updating and obtaining the position vector of each drone and determining all drone neighbor sets within the drone communication range; S3: calculating the
resultant force of repulsion and gravity and the differential acceleration according to the virtual force guidance principle; S4: defining the acceleration adjustment coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position during the steering process of the drone cluster; S5: continuously calculating the
resultant force through the change of acceleration to change the motion state of the drone, so that each drone with different positions has a suitable acceleration. When the drone cluster is steering, the motion process is similar to a
rigid body, and the distance between two adjacent drones remains relatively stable; S6: judging whether the cluster steering is completed. If so, the steering ends; if not, returning to S2 to continue execution. In the cluster steering process, in order to avoid collision and separation of drones and control
energy consumption, corresponding constraints are established. The present invention can dynamically adjust the acceleration according to the defined acceleration adjustment coefficient when the drone cluster turns, so as to realize the rapid turning of the drone cluster, make the drone cluster move like a
rigid body, and increase the cohesion of the drone cluster.