Connectivity-Maintenance UAV Formation Control in Complex Environment

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.

A New Method of UAV Swarm Formation Flight Based on AOA Azimuth-Only Passive Positioning

“…From Equation (10), we can find ρ and θ ′ so that we can determine the positioning coordinates of the receiving UAV as (ρ, θ 0 + θ ′ ). Using the target point O as the origin and A − O as the polar axis, a new polar coordinate system is established.…”

“…As shown in Figure 5, the trajectories of the two routes are indicated by red and blue arrows at different positional situations, respectively. In that case, the point F is the stopping position of the receiving UAV after the first movement, and the coordinates of F are set to (ρ F , θ 0 + θ ′ ), which are the coordinates after localization using Equation (10). The point O is the stopping point of the receiving UAV after the second movement and is the target point of the receiving UAV.…”

“…UAV swarm formation flight involves multiple UAVs flying in a specific formation to achieve cooperative operation, task division, and information sharing. The technology has wide-ranging applications in military, civil, scientific research, and entertainment fields [1][2][3][4][5][6][7][8][9][10]. To control multiple UAVs in a specific formation, it is primum necessary to localize them [7].…”

“…The two adjustment routes for the UAV in different positional situations. Model I: The receiving UAV starts its first movement along the straight line, passing through points A and D, in either the direction of −→ AD or −→ DA.In that case, the point F is the stopping position of the receiving UAV after the first movement, and the coordinates of F are set to (ρ F , θ 0 + θ ′ ), which are the coordinates after localization using Equation(10). The point O is the stopping point of the receiving UAV after the second movement and is the target point of the receiving UAV.…”