UAV formation method based on time-varying network topology

Abstract

The invention discloses a UAV formation method based on a time-varying network topology, which belongs to the UAV control technology, which includes the S1 UAV sending its speed and position at time t to its neighbor UAV, and receiving information from The position and velocity at time t sent by its neighbor drones; S2 calculates the output u of the formation controller of the drone according to the position and velocity of the drone and all its neighbor drones at time t i (t); S3 according to the output u of the UAV at time t i (t), speed and position, calculate the speed and position of the drone at the next moment, and adjust the drone; S4 judges whether the speed and position of the drone at time t+1 meet the set conditions, and if so, complete Formation, otherwise, let t=t+1, and return to step S1. The formation method of this scheme solves the problem that it is difficult for UAVs to form a set formation formation and sail to the destination when the communication environment is poor and multiple communication links cannot be maintained well.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle formation method based on a time-varying network topology. Background technique [0002] Unmanned aerial vehicles are gaining more and more attention in practical applications, such as disaster assistance, agriculture, power transmission and so on. These tasks often require multiple drones to coordinate and complete tasks more efficiently through information interaction and transmission. Studies have shown that maintaining an orderly formation of multiple drones can save energy consumption and make the communication link between them more stable. Therefore, it is of great significance to study the formation of UAS composed of multiple UAVs. [0003] Many existing technologies can control multiple UAVs to form a set formation, among which the control technology based on the consistency problem is the main one. Many proposed alg...

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Problems solved by technology

[0005] Aiming at the above-mentioned deficiencies in the prior art, the UAV formation method based on the time-varying network topology provided by the present invention solves the problem that it is difficult for UAVs to form a network when the communication environment is poor and multiple communication links cannot be maintained well. The problem of sailing to the destination in the set formation formation

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