Swarm control of UAV based on optimal rigid graph and new community partition
Weitao Wu, Xurui Fan, Yanhong Luo · 2020
In terms of unmanned aerial vehicle (UAV)formation control, the traditional master-slave centralized formation control method requires a lot of information interaction, and the requirements for communication between aircraft are relatively high. In order to maintain the connectivity of large-scale UAVs and solve the problem of stable formation in group swarm control, a new multi-agent containment algorithm based on the optimal rigid graph community division method is proposed. First, the optimal rigid graph is used to fully cover the multi-agents randomly distributed in three-dimensional space. And we judge the importance of each node. On this basis, the community is divided, and then the UAV group is modeled. Then we analyze the UAVs swarming characteristics under the containment strategy, so that the drone can achieve position collection and speed matching under traction. Finally, the algorithm is simulated and compared to verify that the new algorithm is reasonable in the application of UAV swarm control. The simulation test results show that the algorithm can make the UAV group reduce information interaction, minimize communication redundancy, and quickly converge into a stable formation.