针对无人机集群中交互机制和运动决策问题,提出一种基于速度协同一致的分布式无人机集群方法.无人机采用区域化固定邻居数目(regionalized fixed number of neighbors,RFNN)交互机制,仅与周围少量无人机进行信息交互,使邻居信息得以高效利用,有效避免冗余信息带来的通信资源浪费.根据无人机与其邻居之间的相对位置和速度约束关系设计速度协同量作为自身期望速度,解决集群运动中的无人机控制问题,且提高无人机群同步收敛性能.仿真实验结果表明:该方法能够仅通过局部交互作用实时协调无人机之间的速度,实现集群有序运动和集群速度跟踪.
Distributed UAV Swarm Technology Based on Velocity Coordination and Consensus
To address the problems of interaction mechanism and motion decision in UAV swarm,a distributed UAV swarm method based on velocity coordination and consensus is proposed.UAVs adopt the regionalized fixed number of neighbors(RFNN)interaction mechanism to interact with only a small number of surrounding UAVs,which enables efficient use of neighbor information and effectively avoids the waste of communication resources caused by redundant information.Furthermore,according to the relative position and velocity constraints between the UAV and its neighbors,the velocity coordination quantity is designed as its own desired speed,which solves the UAV control problem in swarm motion and improves the synchronous convergence performance of UAV swarm.Simulation experiments show that the method can coordinate the velocity among UAVs in real time onlythrough local interactions,and achieve orderly swarm motion and swarm velocity tracking.
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