PDF(2686 KB)
Cooperative Control of UAV Swarm Based on Specific Limited Interaction Rules
ZHU Baitao, DENG Yimin, DUAN Haibin
JPRMG ›› 2022, Vol. 42 ›› Issue (6) : 1-5.
PDF(2686 KB)
PDF(2686 KB)
Cooperative Control of UAV Swarm Based on Specific Limited Interaction Rules
({{custom_author.role_en}}), {{javascript:window.custom_author_en_index++;}}To realize the cooperative control of large-scale UAV swarm under a few leaders, a cooperative control method of UAV swarm based on specific limited interaction rules is proposed. The designed limited interaction rules mainly include two aspects: limited interaction design and interaction mechanism design. The limited interaction of UAV is realized by neighbor selection mechanism based on random line of sight occlusion relationship under limited field of view. The interaction mechanism between UAVs is designed from two aspects: position coordination and velocity coordination. The position coordination force is designed considering the flight safety of UAVs, and the velocity coordination force is designed considering the mission purpose of UAVs in different periods. The simulation results show that the designed limited interaction rules can achieve the cooperative tracking of the UAV swarm to the designated few leaders and complete the cooperative swarm movement of the designated trajectory.
unmanned aerial vehicle / limited interaction / interaction mechanism / cooperative control {{custom_keyword}} /
表1 仿真主要参数列表 |
| 序号 | 参数 | 数值 | 序号 | 参数 | 数值 | |
|---|---|---|---|---|---|---|
| 1 | ALoS,max/(°) | 80 | 8 | Krep | 3.2 | |
| 2 | φ/(°) | 100 | 9 | Kv,ini | 0.5 | |
| 3 | rpre/m | 15 | 10 | Kv,move | 8.8 | |
| 4 | rrep/m | 3 | 11 | nnor | 90 | |
| 5 | rUAV/m | 8 | 12 | nlea | 10 | |
| 6 | Vmax/(m/s) | 8 | 13 | Teig | 50 | |
| 7 | amax/(m/s2) | 5 |
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