关键词: 协同编队, 协调势场函数, 通信权重, 编队恢复, 一致性算法

Abstract:

Aiming at the problems of multi-UAV formation collision avoidance, formation recovery and the consistency of position and velocity convergence, a distributed cooperative formation control algorithm based on the improved potential field principle and consistency theory is proposed. The static obstacle model, UAV particle model and the second-order system dynamic model are established; the coordination potential field function with coordination factors and communication weights is defined, which can achieve the control objectives of collision avoidance and formation recovery; on the basic consistency protocol, the formation center reference vector, expected speed and speed stabilization items are introduced to achieve the convergence and consistency of position and speed; the coordinated formation control algorithm is designed by combining the improved consistency protocol and the improved total acceleration under the action of the potential field, and the stable convergence of the algorithm is proved by the Hamilton function. The simulation results show that the method can achieve the control objectives of collision avoidance, formation recovery and the convergence of position and velocity.

Key words: coordinated formation, coordination potential field function, communication weight, formation recovery, consensus algorithm