Affiliation:
1. School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China
2. School of Telecommunications Engineering, Xidian University, Xi’an 710071, China
Abstract
Cooperative formation control is the research basis for various tasks in the multi-UAV network. However, in a complex environment with different interference sources and obstacles, it is difficult for multiple UAVs to maintain their connectivity while avoiding obstacles. In this paper, a Connectivity-Maintenance UAV Formation Control (CMUFC) algorithm is proposed to help multi-UAV networks maintain their communication connectivity by changing the formation topology adaptively under interference and reconstructing the broken communication topology of a multi-UAV network. Furthermore, through the speed-based artificial potential field (SAPF), this algorithm helps the multi-UAV formation to avoid various obstacles. Simulation results verify that the CMUFC algorithm is capable of forming, maintaining, and reconstructing multi-UAV formation in complex environments.
Funder
Natural Science Basis Research Plan in Shaanxi Province of China
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering
Cited by
4 articles.
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