UAV swarm regular geometric formation transformation and interactive control algorithm

Abstract

Compared with a single UAV, a UAV swarm has higher task execution efficiency, more robust system scalability, and better environmental adaptability when performing tasks. Different mission scenarios have additional requirements for the formation of a UAV swarm. In this context, the UAV swarm regular geometric formation transformation algorithm is proposed and implemented. The remote interactive control algorithm of the intelligent terminal based on Huawei SCM-W09 Pad and NOLO VR equipment is proposed and implemented. The deployment of the algorithm is mainly based on the Crazyflie miniature quadrotor, the Optitrack motion capture system, and the Crazyswarm software framework. Under limited communication resources, Crazyradio PA is used to expand the controllable UAV swarm scale from 17 to 20 under single-channel conditions. Through the actual flight experiment of the UAV swarm algorithm, the feasibility and practicability of the proposed algorithm are fully verified. Finally, we provide technical ideas and feasibility demonstrations to improve the proposed UAV swarm algorithm further.