The invention discloses an unmanned aerial vehicle limited
interaction range formation control method based on pigeon
flock interaction intelligence. The method comprises the steps of 1, building a planar two-degree-of-freedom unmanned aerial
vehicle dynamics model; and step 2, establishing a two-dimensional plane circular formation tracking control model. And step 3, establishing an unmanned aerial vehicle circular formation tracking control law. And step 4, establishing a two-dimensional plane unmanned aerial vehicle circular formation tracking control model. And 5, establishing a pigeon inspired optimization
algorithm model. And step 6, designing a pigeon inspired optimization
algorithm objective function. And 7, performing
simulation verification. On one hand, the situation that the actual combat environment is limited in
interaction range is considered, the communication distance is infinite under the non-ideal condition, interaction between every two individuals can be achieved, and the actual application value is higher; and on the other hand, optimization of step length parameters is added on the basis of an existing control law, so that the unmanned aerial vehicle can perform optimization selection on the step length of the unmanned aerial vehicle in real time without depending on acquisition of global individual information, and the real-time calculation amount is greatly reduced.