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在无人机编队控制中,传统的主从式集中编队控制方式需要大量信息交互,对机间通信的要求较高。针对具有虚拟领航者的分布式无人机自组织编队跟踪问题,运用有界蜂拥算法对无人机模型进行求解。首先,提出了一种有界控制输入的蜂拥算法,并对算法的稳定性进行了分析;其次,对无人机进行了建模,提出了虚拟受力点的概念,并对虚拟受力点进行受力分析,将算法中的加速度转化成无人机径向速度与偏航速度的更新,以达到分布式无人机编队自组织以及跟踪虚拟领航者的目的;最后,通过仿真验证了算法和模型的有效性。
In UAV formation control, the traditional master-slave centralized formation control method requires a lot of information interaction, higher requirements for inter-machine communication. Aiming at the problem of self-organized formation tracking of distributed UAS with virtual leader, the UAV algorithm is used to solve the UAV model. Firstly, a swarm algorithm with bounded control inputs was proposed and the stability of the algorithm was analyzed. Secondly, the UAV was modeled and the concept of virtual force point was put forward. The virtual force point The force analysis is carried out and the acceleration in the algorithm is transformed into the update of the UAV radial velocity and yaw speed so as to achieve the goal of distributed UAV formation self-organization and tracking virtual leader. Finally, the simulation results show that the algorithm And the validity of the model.