Aiming at the problems of complex transformation process and slow response speed in UAV formation re-construction,a formation reconstruction method based on improved artificial potential function and dynamic con-straints is proposed.First,the traditional artificial potential function is improved to establish a virtual force field and UAV formation model.Secondly,a kinetic model constrained by the dynamic formation is used to describe the formation motion and establish a constrained kinetic equation containing the Lagrangian coefficient.Then,the pen-alty function method is used to solve the kinetic equation of the UAV formation.Finally,formation reconstruction scenarios in two-dimensional plane and three-dimensional space are designed and simulation tests are carried out.The results show that the formation in three-dimensional space completes the formation transformation after 0.48 s,and the extended formation completes the formation transformation after 2.78s.In addition,the formation is stable before and after the transformation.
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