针对无人机编队形成或变换过程中内部避碰的需求,设计了切换型编队控制器,以基于一致性的编队控制器为主导,附加避碰控制器。避碰控制器基于人工势场法,当无人机探测到安全范围内其它无人机时,避碰控制器起作用。给出了有向通信条件下基于一致性编队控制器参数选取的规则,保证多无人机系统最终形成给定编队。仿真结果表明,该控制方法能够使无人机集群系统形成编队,并且在编队形成过程中无人机间不发生碰撞。 Aiming at the requirement of internal avoidance during formation or transformation of UAV formation, a switch formation formation controller is designed. The collision avoidance controller is attached to the formation controller based on consistency. Collision avoidance controller Based on the artificial potential field method, the collision avoidance controller functions when the drone detects other unmanned aerial vehicles in the safety range. The rules of parameter selection based on the consistency formation control under directional communication are given, which guarantees that the multi-UAV system finally forms a given formation. The simulation results show that this control method can make the formation of UAV cluster system formation, and no formation of collisions between UAVs during formation formation.