Abstract
In this paper, a method of multi UAV cluster control based on improved artificial potential field (APF) is proposed. The k-means method is used to integrate and optimize the attractive force between UAVs, and the concept of virtual core is introduced to realize the cluster control and adaptive formation flight of multiple UAVs. The attractive disturbance component of the target point is introduced and the backtracking-filling method is proposed to solve the local minimum problem in the APF. The repulsion force in the APF can realize obstacle avoidance and collision avoidance, and the virtual core can control the UAV cluster to fly to the target point under the attractive force of potential field, so as to realize the track planning and multi aircraft cooperative task. In the process of cluster flight when the UAV fails, merges or dispatches, the method can realize cluster reconfiguration and the cluster control effect and task execution success rate can be improved. The simulation experiments in virtual APF and urban environment APF show the effectiveness of this method.
Highlights
With the rapid development of sensor, cloud computing and communication technology, UAV system is widely used in military and civil fields
On the basis of the above research, in order to improve the success rate of multiple UAVs in mission execution, ensure good cluster control effect, and have flexible and changeable formation ability, this paper proposes a multi UAV cluster control method based on virtual core in improved artificial potential field (APF), and realizes UAV cluster real-time path planning
The original three UAVs clusters are not eager to merge with the fourth UAV for reconstruction, but according to the track planning to the target point, choose the right time to reconstruct the cluster, which reflects the good performance of the multi UAV cluster control method based on the virtual core in the improved APF in the track optimization
Summary
With the rapid development of sensor, cloud computing and communication technology, UAV system is widely used in military and civil fields. On the basis of the above research, in order to improve the success rate of multiple UAVs in mission execution, ensure good cluster control effect, and have flexible and changeable formation ability, this paper proposes a multi UAV cluster control method based on virtual core in improved APF, and realizes UAV cluster real-time path planning. In order to simplify the calculation of inter-UAV attraction field and improve the effect of cluster control, it is assumed that there is a virtual core of UAV cluster, and the position of the virtual core is calculated by k-means method to realize the formation flying around the core of multiple UAVs. Thirdly, the flight speed and direction of UAV are calculated by the mode value and phase angle of resultant force to realize the optimal path planning
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
