Research on Self-Organizing Behavior-Based UAV Formation Based on Distributed Control
Yunhe Li, Bo Li, Niu Xiaowei · Proceedings of the 3rd International Conference on Vision, Image and Signal Processing · 2019
In this study, under the distributed control, the relevant information detected was used to realize UAV formation based on self-organizing behavior on the basis of the quasi-static communication topological structure. This paper improves and optimizes the artificial potential energy function by combining the consistency algorithm and virtual navigation method to satisfy the three constraints of the congestion control strategy. By adding the edge delay effect, the local congestion will not occur, and the network connectivity in the global process will not occur arbitrary switching of the topology structure, so that the UAVs can switch from any initial state to the expected formation pattern and maintain the pattern.