Abstract
The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper proposed a route-based formation switching and obstacle avoidance method. First, the consistency theory was used to design the UAV swarm formation control protocol. According to the agreement, the self-organized UAV swarm could obtain the formation waypoint according to the current position information, and then follow the corresponding rules to design the waypoint to fly around and arrive at the formation waypoint at the same time to achieve formation switching. Secondly, the formation of the obstacle avoidance channel was obtained by combining the geometric method and an intelligent path search algorithm. Then, the UAV swarm was divided into multiple smaller formations to achieve the formation obstacle avoidance. Finally, the abnormal conditions during the flight were handled. The simulation results showed that the formation control technology based on distributed ad hoc network was reliable and straightforward, easy to implement, robust in versatility, and helpful to deal with the communication anomalies and flight anomalies with variable topology.
Highlights
The fixed-wing unmanned aerial vehicle (UAV) swarm has essential application prospects and has become a current research hotspot
Based on the consistency theory, this paper proposes a method for formation switching and obstacle avoidance based on waypoint planning for the problem of formation control of a fixed-wing UAV swarm in a distributed ad hoc networks
The first part gives a general description of the problem of a fixed-wing UAV swarm formation in a distributed ad hoc network; the second part proposes a method for switching the formation of the UAV swarm based on the consistency theory; the third part designs a UAV swarm formation obstacle avoidance algorithm; the fourth part deals with the problems of flight abnormality and communication abnormality of the UAV swarm during the flight; the fifth part simulates and verifies the formation switching of the UAV swarm, the formation obstacle avoidance, and handling of anomalies during the flight; the sixth part analyzes and discusses the results; and the seventh part summarizes the article
Summary
The fixed-wing UAV swarm has essential application prospects and has become a current research hotspot. Based on the consistency theory, this paper proposes a method for formation switching and obstacle avoidance based on waypoint planning for the problem of formation control of a fixed-wing UAV swarm in a distributed ad hoc networks. The first part gives a general description of the problem of a fixed-wing UAV swarm formation in a distributed ad hoc network; the second part proposes a method for switching the formation of the UAV swarm based on the consistency theory; the third part designs a UAV swarm formation obstacle avoidance algorithm; the fourth part deals with the problems of flight abnormality and communication abnormality of the UAV swarm during the flight; the fifth part simulates and verifies the formation switching of the UAV swarm, the formation obstacle avoidance, and handling of anomalies during the flight; the sixth part analyzes and discusses the results; and the seventh part summarizes the article
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