Pigeon-Inspired Circular Formation Control for Multi-UAV System with Limited Target Information

Abstract

The problem of cooperative circular formation with limited target information for multiple Unmanned Aerial Vehicle (UAV) system is addressed in this paper. A pigeon-inspired circular formation control method is proposed to form the desired circular distribution in a plane based on the intelligent pigeon behavior during hovering. To reach the goal of prescribed radius and angular distribution, the controller is designed consisting of a circular movement part and a formation distribution part. Therein, the circular movement part is designed to make each UAV rotate around the specified circle at the same angular speed only using the relative position between the UAV and the target. The formation distribution part could adjust the angular distance between each UAV and its neighbors with the jointly connected network to reduce communication cost. To smooth the speed variation, nonlinear PID-type method is delivered throughout the evolution of the system. The convergence analysis of the proposed control protocol is presented using Lyapunov theory and graph tools. The effectiveness of the proposed control strategies is demonstrated through numerical simulations.

From animal collective behaviors to swarm robotic cooperation

“…Based on the interaction topology network, the UAV swarm could carry out information aggregation and fusion, make decisions on the next mission and move on to complete the current action [ 57 ]. First, the UAV individual could acquire situation elements at the current time and space environment, fuse and analyze the information, and obtain the predictive inference of the states at the next moment to establish situation awareness.…”

Target enclosing control of multiple unmanned aerial vehicles based on crowd entropy

“…总之, 目前集群合围控制问题已得到广泛研究, 但任务环境的不确定性、 未知或部分可知的合围目标 信息、 合围过程中可能出现的通信中断以及个体的增 加和减少等对集群合围控制方法提出了更高的要求 [19][20][21]…”

Distributed control of target cooperative encirclement and tracking using range‐based measurements

“…The UAVs can obtain target information or restrict the movement of the target through surveillance, destruction, and so on. Many scholars have devoted themselves to solving related problems in this field and have given solutions [6][7][8][9][10].…”