Multi-unmanned aerial vehicle formation control method based on consistency algorithm

Abstract

The invention provides a multi-unmanned aerial vehicle formation control method based on a consistency algorithm. The method comprises the steps that a cluster formation communication topological relation matrix containing unmanned aerial vehicle numbers and interaction relations is established; establishing a cluster formation description matrix containing unmanned aerial vehicle numbers and predetermined position coordinates; a consistency algorithm is adopted, and a speed control instruction of the cluster formation under the condition that collision prevention is not considered is obtained based on the cluster formation communication topological relation matrix and the cluster formation pattern description matrix; acquiring an anti-collision speed instruction of the cluster formation by adopting an artificial potential field method; and acquiring a speed control instruction of the cluster formation under the condition of considering the anti-collision based on the speed control instruction of the cluster formation under the condition of not considering the anti-collision and the anti-collision speed instruction of the cluster formation, and performing formation control on the multiple unmanned aerial vehicles based on the speed control instruction of the cluster formation under the condition of considering the anti-collision. According to the invention, the technical problems of large communication traffic, poor expansibility, and weak stability and robustness of existing formation control can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle formation control, and in particular to a multi-unmanned aerial vehicle formation control method based on a consistency algorithm. Background Art

[0002] In modern flight missions, the traditional single-drone combat mode can no longer meet the needs of complex battlefield environments. The coordinated combat of drone groups can give full play to the advantages of coordination and complete functions that cannot be achieved by a single machine, thereby greatly improving the combat effectiveness of the system. When performing combat missions such as close-in flight and target search, drone groups need to maintain a stable formation and quickly switch the formation shape as needed. Therefore, it is necessary to study the coordinated formation control algorithm of multiple drones to enable drone groups to efficiently and stably maintain and switch formations.

[0003] At present, the control technology of multi-UAV formation is mainly based on virtual structure method and leader-follower method. Both methods require a large amount of communication load and centralized control, which makes the stability and robustness of the formation poor, and the scalability is also weak. Summary of the invention

[0004] The present invention provides a multi-UAV formation control method based on a consistency algorithm, which can solve the technical problems of large communication volume, poor scalability, and weak stability and robustness in the existing formation control based on a virtual structure method and a leader-follower method.

[0005] According to one aspect of the present invention, a multi-UAV formation control method based on a consistency algorithm is provided, the method comprising:

[0006] Establish a cluster formation communication topology relationship matrix including drone numbers and interaction relationships;

[0007] Establish a cluster formation description matrix including the UAV number and the predetermined position coordinates;

[0008] The consistency algorithm is used to obtain the speed control instructions of the cluster formation without considering collision avoidance based on the cluster formation communication topology relationship matrix and the cluster formation description matrix.

[0009] The artificial potential field method is used to obtain the anti-collision speed instruction of the cluster formation;

[0010] Based on the speed control instructions of the cluster formation without considering collision avoidance and the collision avoidance speed instructions of the cluster formation, the speed control instructions of the cluster formation under collision avoidance are obtained, and formation control of multiple UAVs is performed based on the speed control instructions of the cluster formation under collision avoidance.

[0011] Preferably, a cluster formation communication topology relationship matrix including drone numbers and interaction relationships is established by the following formula:

[0012]

[0013] In the formula, A n is the cluster formation communication topology relationship matrix, R n×n is the real number domain, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, where i∈[1,n],j∈[1,n].

[0014] Preferably, a cluster formation description matrix including the drone number and the predetermined position coordinates is established by the following formula:

[0015]

[0016] In the formula, p n×3 is the cluster formation description matrix, n is the total number of drones in the formation, x iF ,y iF 、z iF are the predetermined intervals between the i-th UAV and the formation center in the x, y, and z axes in the ground coordinate system, where i∈[1,n].

[0017] Preferably, using a consistency algorithm, obtaining a speed control instruction of a cluster formation without considering collision avoidance based on a cluster formation communication topology relationship matrix and a cluster formation formation description matrix includes:

[0018] Based on the cluster formation description matrix, the position of each UAV in the formation at each moment and the expected formation center position at each moment, the distance affecting the speed weight of each UAV at each moment is obtained;

[0019] Based on the cluster formation communication topology relationship matrix, the cluster formation formation description matrix and the position of each UAV in the formation at each moment, the formation influence speed weight of each UAV at each moment is obtained;

[0020] Based on the speed weights affected by the distance of each UAV at each moment and the speed weight affected by the formation, the speed control instructions of the cluster formation without considering collision avoidance are obtained.

[0021] Preferably, the distance affecting speed weight of each drone at each moment is obtained by the following formula:

[0022]

[0023] In the formula, v xid,k+1 、v yid,k+1 、v zid,k+1are the speed weights of the distances of the i-th UAV on the x, y, and z axes in the ground coordinate system at the next moment, η is the speed control parameter, and k p is the position control parameter, k γ is the formation control parameter, x c,k+1 ,y c,k+1 、z c,k+1 are the x, y, and z axis coordinates of the formation center expected at the next moment, respectively. i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively.

[0024] Preferably, the formation-influencing speed weight of each UAV at each moment is obtained by the following formula:

[0025]

[0026] In the formula, v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights of the formation of the i-th UAV at the next moment, η is the speed control parameter, k γ is the formation control parameter, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, i and j are different UAV numbers, x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x, y, and z axis coordinates of the jth drone at the current moment, respectively. iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system at the next moment, x, y, and z axes, respectively. jF,k+1 ,y jF,k+1 、z jF,k+1 are the predetermined intervals between the jth UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively, and v xj,k 、v yj,k 、v zj,k are the speeds of the jth UAV at the current moment.

[0027] Preferably, the speed control instruction of the cluster formation without considering collision avoidance is obtained by the following formula:

[0028]

[0029] In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v xid,k+1 、v yid,k+1 、v zid,k+1 are the speed weights affected by the distances of the x, y, and z axes of the i-th UAV in the ground coordinate system at the next moment, and v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights affecting the formation of the i-th UAV at the next moment.

[0030] Preferably, the anti-collision speed instruction of the cluster formation is obtained by the following formula:

[0031]

[0032]

[0033] In the formula, dv xi,k 、dv yi,k are the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment, R max , R min are the maximum and minimum safe distances between the i-th UAV and the j-th UAV, respectively, and x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x-, y-, and z-axis coordinates of the j-th UAV at the current moment, and d is the distance between the ith UAV and the j-th UAV at the current moment.

[0034] Preferably, the speed control instruction of the cluster formation in consideration of collision avoidance is obtained by the following formula:

[0035]

[0036] In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v x ' ic,k+1 , v′yic,k+1 、v z ' ic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment under the consideration of collision avoidance, dv xi,k 、dv yi,k They are respectively the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment.

[0037] According to another aspect of the present invention, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods when executing the computer program.

[0038] By applying the technical solution of the present invention, by constructing a formation communication topology relationship matrix and a formation description matrix, and applying a consistency algorithm to distribute and calculate the speed control instructions of the formation members, no central node is required, the communication volume is small, and the scalability is strong; at the same time, the artificial potential field method is combined to calculate the anti-collision speed instructions, which can effectively improve the stability and robustness of the formation and achieve efficient and stable control of the formation. The present invention does not require manual design of complex controllers. Through distributed interconnection and collaboration between multiple drones, self-organization and optimization control of formation movement are achieved, which greatly reduces the complexity of the control system and can be quickly applied to a variety of formation scenarios as a general multi-drone formation control framework. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A flowchart of a multi-UAV formation control method based on a consistency algorithm provided according to an embodiment of the present invention is shown;

[0041] Figure 2 A simulation diagram of a circular formation formed based on a consistency control algorithm provided according to an embodiment of the present invention is shown;

[0042] Figure 3 A diagram showing a simulation process of switching from a circular formation to a rectangular formation provided according to an embodiment of the present invention is shown;

[0043] Figure 4 A simulation diagram of a rectangular formation formed based on a consistency control algorithm provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0047] like Figure 1 As shown, the present invention provides a multi-UAV formation control method based on a consistency algorithm, the method comprising:

[0048] Establish a cluster formation communication topology relationship matrix including drone numbers and interaction relationships;

[0049] Establish a cluster formation description matrix including the UAV number and the predetermined position coordinates;

[0050] The consistency algorithm is used to obtain the speed control instructions of the cluster formation without considering collision avoidance based on the cluster formation communication topology relationship matrix and the cluster formation description matrix.

[0051] The artificial potential field method is used to obtain the anti-collision speed instruction of the cluster formation;

[0052] Based on the speed control instructions of the cluster formation without considering collision avoidance and the collision avoidance speed instructions of the cluster formation, the speed control instructions of the cluster formation under collision avoidance are obtained, and formation control of multiple UAVs is performed based on the speed control instructions of the cluster formation under collision avoidance.

[0053] The present invention constructs a formation communication topology relationship matrix and a formation description matrix, and applies a consistency algorithm to distribute and calculate the speed control instructions of the formation members. It does not require a central node, has a small communication volume, and has strong scalability. At the same time, it combines the artificial potential field method to calculate the anti-collision speed instructions, which can effectively improve the stability and robustness of the formation and achieve efficient and stable control of the formation. The present invention does not require manual design of complex controllers. Through distributed interconnection and collaboration between multiple drones, it achieves self-organization and optimization control of formation movement, greatly reducing the complexity of the control system. It can be quickly applied to a variety of formation scenarios as a general multi-drone formation control framework.

[0054] According to an embodiment of the present invention, a cluster formation communication topology relationship matrix including drone numbers and interaction relationships is established by the following formula:

[0055]

[0056] In the formula, A n is the cluster formation communication topology relationship matrix, R n×n is the real number domain, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, where i∈[1,n],j∈[1,n].

[0057] In this embodiment, the relationship matrix A is determined based on the communication connection relationship between the drones. n Each element a ij The value of each element a ij In the equation, the subscript angle of the diagonal elements is i=j, and the subscript angle of the off-diagonal elements is i≠j.

[0058] In the case of i=j, a ii = 0, indicating that it does not allow communication. In the case of i≠j, when the i-th UAV can receive the information of the j-th UAV, a ij > 0; when the i-th UAV and the j-th UAV do not communicate, a ij = 0. When the i-th UAV and the j-th UAV are involved in the subsequent steps, i≠j.

[0059] According to an embodiment of the present invention, a cluster formation description matrix including drone numbers and predetermined position coordinates is established by the following formula:

[0060]

[0061] In the formula, p n×3 is the cluster formation description matrix, n is the total number of drones in the formation, x iF ,y iF 、z iF are the predetermined intervals between the i-th UAV and the formation center in the x, y, and z axes in the ground coordinate system, where i∈[1,n].

[0062] According to an embodiment of the present invention, using a consistency algorithm, obtaining a speed control instruction of a cluster formation without considering collision avoidance based on a cluster formation communication topology relationship matrix and a cluster formation formation description matrix includes:

[0063] Based on the cluster formation description matrix, the position of each UAV in the formation at each moment and the expected formation center position at each moment, the distance affecting the speed weight of each UAV at each moment is obtained;

[0064] Based on the cluster formation communication topology relationship matrix, the cluster formation formation description matrix and the position of each UAV in the formation at each moment, the formation influence speed weight of each UAV at each moment is obtained;

[0065] Based on the speed weights affected by the distance of each UAV at each moment and the speed weight affected by the formation, the speed control instructions of the cluster formation without considering collision avoidance are obtained.

[0066] According to an embodiment of the present invention, the distance-influencing-speed weight of each drone at each moment is obtained by the following formula:

[0067]

[0068] In the formula, v xid,k+1 、v yid,k+1 、v zid,k+1 are the speed weights of the distances of the i-th UAV on the x, y, and z axes in the ground coordinate system at the next moment, η is the speed control parameter, and k p is the position control parameter, k γ is the formation control parameter, x c,k+1 ,y c,k+1 、z c,k+1 are the x, y, and z axis coordinates of the formation center expected at the next moment, respectively. i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively.iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively.

[0069] According to an embodiment of the present invention, the formation-influencing speed weight of each UAV at each moment is obtained by the following formula:

[0070]

[0071] In the formula, v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights of the formation of the i-th UAV at the next moment, η is the speed control parameter, k γ is the formation control parameter, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, i and j are different UAV numbers, x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x, y, and z axis coordinates of the jth drone at the current moment, respectively. iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system at the next moment, x, y, and z axes, respectively. jF,k+1 ,y jF,k+1 、z jF,k+1 are the predetermined intervals between the jth UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively, and v xj,k 、v yj,k 、v zj,k are the speeds of the jth UAV at the current moment.

[0072] According to an embodiment of the present invention, the speed control instruction of the cluster formation without considering collision avoidance is obtained by the following formula:

[0073]

[0074] In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v xid,k+1 、v yid,k+1 、v zid,k+1are the speed weights affected by the distances of the x, y, and z axes of the i-th UAV in the ground coordinate system at the next moment, and v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights affecting the formation of the i-th UAV at the next moment.

[0075] According to one embodiment of the present invention, the anti-collision speed instruction of the cluster formation is obtained by the following formula:

[0076]

[0077]

[0078] In the formula, dv xi,k 、dv yi,k are the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment, R max , R min are the maximum and minimum safe distances between the i-th UAV and the j-th UAV, respectively, and x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x-, y-, and z-axis coordinates of the j-th UAV at the current moment, and d is the distance between the ith UAV and the j-th UAV at the current moment.

[0079] According to an embodiment of the present invention, the speed control instruction of the cluster formation in consideration of collision avoidance is obtained by the following formula:

[0080]

[0081] In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v x ' ic,k+1 , v′ yic,k+1 、v z ' ic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment under the consideration of collision avoidance, dv xi,k 、dv yi,k They are respectively the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment.

[0082] In order to further understand the present invention, the following Figure 2-Figure 4The multi-UAV formation control method based on the consistency algorithm of the present invention is described in detail.

[0083] In this embodiment, 20 drones form a cluster formation flight. The initial position of the formation center is (0m, 0m, 1000m), the horizontal flight speed is 30m / s, and the drone group needs to maintain a circular formation to fly. During the flight, the drone group switches from a circular formation to a rectangular formation. Using the rviz simulation environment of the ros robot operating system, simulation based on this method is performed, and the simulation results are as follows: Figure 2 to Figure 4 shown.

[0084] Figure 2 It shows 20 UAVs maintaining circular formation flight, and the gray curve is the flight motion trajectory of the formation center; Figure 3 The figure shows the process of 20 UAVs switching from a circular formation to a rectangular formation. During the formation switching process, the 20 UAVs did not collide with each other. Figure 4 Twenty drones are shown switching to a rectangular formation.

[0085] The present invention has been verified by simulation that multi-UAV formations can efficiently maintain and switch formations, with smooth trajectories and no collisions, verifying the effectiveness of the method of the present invention. The distributed control strategy based on the consistency algorithm of the present invention makes the formation control robust and reliable, suitable for complex environments, and shows good collaborative control effects in UAV formation flight.

[0086] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods when executing the computer program.

[0087] In summary, the present invention provides a multi-UAV formation control method based on a consistency algorithm. By constructing a formation communication topology relationship matrix and a formation description matrix, the consistency algorithm is applied to distribute and calculate the speed control instructions of the formation members. No central node is required, the communication volume is small, and the scalability is strong. At the same time, the artificial potential field method is combined to calculate the anti-collision speed instructions, which can effectively improve the stability and robustness of the formation and achieve efficient and stable control of the formation. The present invention does not require manual design of complex controllers. Through distributed interconnection and collaboration between multiple UAVs, self-organization and optimization control of formation movement are achieved, which greatly reduces the complexity of the control system and can be quickly applied to a variety of formation scenarios as a general multi-UAV formation control framework.

[0088] Parts of the present invention that are not described in detail are well known to those skilled in the art.

[0089] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0090] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0091] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-UAV formation control method based on a consensus algorithm, characterized in that: The method comprises: establishing a cluster formation communication topology relationship matrix including drone numbers and interaction relationships; Establish a cluster formation description matrix including the UAV number and the predetermined position coordinates; The consistency algorithm is used to obtain the speed control instructions of the cluster formation without considering collision avoidance based on the cluster formation communication topology relationship matrix and the cluster formation description matrix. The artificial potential field method is used to obtain the anti-collision speed instruction of the cluster formation; Based on the speed control instructions of the cluster formation without considering collision avoidance and the collision avoidance speed instructions of the cluster formation, the speed control instructions of the cluster formation under collision avoidance are obtained, and formation control of multiple UAVs is performed based on the speed control instructions of the cluster formation under collision avoidance.

2. The method according to claim 1, characterized in that The cluster formation communication topology relationship matrix including drone numbers and interaction relationships is established through the following formula: In the formula, A n is the cluster formation communication topology relationship matrix, R n×n is the real number domain, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, where i∈[1,n],j∈[1,n].

3. The method according to claim 1, characterized in that: The cluster formation description matrix containing the UAV number and the predetermined position coordinates is established by the following formula: In the formula, p n×3 is the cluster formation description matrix, n is the total number of drones in the formation, x iF ,y iF 、z iF are the predetermined intervals between the i-th UAV and the formation center in the x, y, and z axes in the ground coordinate system, where i∈[1,n].

4. The method according to claim 1, characterized in that Using the consistency algorithm, the speed control instructions of the cluster formation without considering collision avoidance are obtained based on the cluster formation communication topology relationship matrix and the cluster formation formation description matrix, including: Based on the cluster formation description matrix, the position of each UAV in the formation at each moment and the expected formation center position at each moment, the distance affecting the speed weight of each UAV at each moment is obtained; Based on the cluster formation communication topology relationship matrix, the cluster formation formation description matrix and the position of each UAV in the formation at each moment, the formation influence speed weight of each UAV at each moment is obtained; Based on the speed weights affected by the distance of each UAV at each moment and the speed weights affected by the formation, the speed control instructions of the cluster formation without considering collision avoidance are obtained.

5. The method according to claim 4, characterized in that The distance impact speed weight of each drone at each moment is obtained through the following formula: In the formula, v xid,k+1 、v yid,k+1 、v zid,k+1 are the speed weights of the distances of the i-th UAV on the x, y, and z axes in the ground coordinate system at the next moment, η is the speed control parameter, and k p is the position control parameter, k γ is the formation control parameter, x c,k+1 ,y c,k+1 、z c,k+1 are the x, y, and z axis coordinates of the formation center expected at the next moment, respectively. i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively.

6. The method according to claim 4 or 5, characterized in that: The formation-influencing speed weight of each drone at each moment is obtained through the following formula: In the formula, v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights of the formation of the i-th UAV at the next moment, η is the speed control parameter, k γ is the formation control parameter, n is the total number of drones in the formation, a ij is the communication weight between the i-th UAV and the j-th UAV, i and j are different UAV numbers, x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x, y, and z axis coordinates of the jth drone at the current moment, respectively. iF,k+1 ,y iF,k+1 、z iF,k+1 are the predetermined intervals between the i-th UAV and the formation center in the ground coordinate system at the next moment, x, y, and z axes, respectively. jF,k+1 ,y jF,k+1 、z jF,k+1 are the predetermined intervals between the jth UAV and the formation center in the ground coordinate system on the x, y, and z axes at the next moment, respectively, and v xj,k 、v yj,k 、v zj,k are the speeds of the jth UAV at the current moment.

7. The method according to any one of claims 4 to 6, characterized in that: The speed control command of the cluster formation without considering collision avoidance is obtained by the following formula: In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v xid,k+1 、v yid,k+1 、v zid,k+1 are the speed weights affected by the distances of the x, y, and z axes of the i-th UAV in the ground coordinate system at the next moment, and v xif,k+1 、v yif,k+1 、v zif,k+1 are the speed weights affecting the formation of the i-th UAV at the next moment.

8. The method according to claim 1, characterized in that: The anti-collision speed instruction of the cluster formation is obtained by the following formula: In the formula, dv xi,k 、dv yi,k are the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment, R max , R min are the maximum and minimum safe distances between the i-th UAV and the j-th UAV, respectively, and x i,k ,y i,k 、z i,k are the x, y, and z axis coordinates of the i-th drone at the current moment, respectively. j,k ,y j,k 、z j,k are the x-, y-, and z-axis coordinates of the j-th UAV at the current moment, and d is the distance between the ith UAV and the j-th UAV at the current moment.

9. The method according to claim 1, characterized in that: The speed control instruction of the cluster formation considering collision avoidance is obtained by the following formula: In the formula, v xic,k+1 、v yic,k+1 、v zic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment without considering collision avoidance, and v x ' ic,k+1 , v′ yic,k+1 、v z ' ic,k+1 are the speed control instructions of the x, y, and z axes of the i-th drone at the next moment under the consideration of collision avoidance, dv xi,k 、dv yi,k They are respectively the x-axis and y-axis anti-collision speed instructions of the i-th drone at the current moment.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 9 is implemented.

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