Unmanned aerial vehicle cluster formation control method and device based on communication maintenance

• Main Authors: HU JINGWEN, XU ZHAO, LYU MINGWEI
• Format: Patent
• Language: Chinese; English
• Published: 10.05.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to an unmanned aerial vehicle cluster formation control method and device based on communication maintenance, and the method comprises the steps: firstly, obtaining an expected waypoint position based on the calculation of a formation control law and an unmanned aerial vehicle motion model, and then building a spatial constraint set for each wing aircraft according to the expected waypoint position of the wing aircraft and the expected waypoint positions of other wing aircrafts; then calculating the communication cost of each wing aircraft and other wing aircrafts, selecting the first S unmanned aerial vehicles with the minimum communication cost as a new neighbor set, and then determining the position of an execution waypoint according to the relationship between the position of the own expected waypoint and the intersection of the spatial constraint set formed by the wing aircrafts in the new neighbor set and the preset motion constraint; and finally, each wing plane flies according to