A cluster formation method for distributed control of unmanned aerial vehicle swarms

Abstract

The invention provides a method for distributed control of centralized clustering formation of an unmanned-plane cluster. The method includes the following steps: 1. determining unmanned-plane-cluster task nature of each task in a task chain and determining a feasible unmanned-plane formation form according to a flying environment; 2. establishing a formation optimization priority set for the unmanned-plane cluster from the feasible formation form and modeling, and determining static or dynamic optimization priority sets of different tasks according to different task targets; 3. according to optimization indexes of the tasks, selecting an optimal task formation or a suboptimum task formation, which complies with performance indexes, from a formation method of the static optimization set or the dynamic optimization set. The method for the distributed control of the centralized clustering formation of the unmanned-plane cluster is capable of efficiently, intelligently and flexibly changing and selecting a coordinative formation of an unmanned-plane cluster and has the advantages of being safe, stable and reliable.

Description

technical field [0001] The invention relates to the field of formation transformation and control of a multi-task unmanned aerial vehicle group with a clustered formation, in particular to a method for distributed control of a clustered formation in a cluster of unmanned aerial vehicles. Background technique [0002] Unmanned aerial vehicles (UAVs) are important combat weapons in modern warfare. They can replace manned aircraft to perform a variety of complex and dangerous tasks within a certain range. However, in future wars, only a single UAV will not be able to adapt to complex battlefield environments. UAV formations with effective coordination strategies can better complete tasks. Because the drone swarm composed of multiple drones can reduce the overall flight resistance, the aerodynamic efficiency, strike effect, success rate, detection range and evasion probability of the drone swarm are all improved. As a result, the drone group can have a relatively large range of...

AI Technical Summary

Problems solved by technology

At present, UAV group formation control and formation transformation are mainly focused on the research direction of a single UAV, that is, from the perspective of a single UAV as a cluster of points, the division of task nature is considered to carry out route planning with fixed or semi-fixed formations; On the other hand, it is only for the formation coordination of the long and wingman double-click structure to complete the task, while the UAV swarm controls each cluster in a distributed manner, and the feasibility and optimization research of the joint state of centralized formation within the cluster is less.

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