Aiming at the problem that unmanned aerial vehicles(UAVs)cannot achieve autonomous collaborative evolution and adapt to changes of environment and posture when they fly together in complex environments such as multiple obstacles or restricted space,which leads to poor consistency of the whole group motion such as oscillation and loss of control,a group entropy metric theory of UAV cluster motion consistency is proposed.By establishing an entropy metric function of the stability degree of group motion behavior,as an indicator of the adaptive value of the coordinated motion between individuals,the adaptive regulation of UAV cluster motion consistency in complex environment is realized.Finally,simulation experiments are carried out,compared with the traditional UAV clustering algorithm,the convergence speed of UAV motion agglomeration with the introduction of group entropy metric is increased by 30%,and the fluctuation range of entropy value of clustering motion in the complex environment is decreased by 21.8%,which effectively proves that the group entropy metric is effective for the improvement of the consistency of UAV clustering motion.
维普
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