Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network
The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper propose...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/2/535 |
| _version_ | 1827666971214217216 |
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| author | Wenbo Suo Mengyang Wang Dong Zhang Zhongjun Qu Lei Yu |
| author_facet | Wenbo Suo Mengyang Wang Dong Zhang Zhongjun Qu Lei Yu |
| author_sort | Wenbo Suo |
| collection | DOAJ |
| description | The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper proposed a route-based formation switching and obstacle avoidance method. First, the consistency theory was used to design the UAV swarm formation control protocol. According to the agreement, the self-organized UAV swarm could obtain the formation waypoint according to the current position information, and then follow the corresponding rules to design the waypoint to fly around and arrive at the formation waypoint at the same time to achieve formation switching. Secondly, the formation of the obstacle avoidance channel was obtained by combining the geometric method and an intelligent path search algorithm. Then, the UAV swarm was divided into multiple smaller formations to achieve the formation obstacle avoidance. Finally, the abnormal conditions during the flight were handled. The simulation results showed that the formation control technology based on distributed ad hoc network was reliable and straightforward, easy to implement, robust in versatility, and helpful to deal with the communication anomalies and flight anomalies with variable topology. |
| first_indexed | 2024-03-10T03:00:06Z |
| format | Article |
| id | doaj.art-b6da000f3cfd48e8a1e616da7b85fc69 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T03:00:06Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-b6da000f3cfd48e8a1e616da7b85fc692023-11-23T12:48:39ZengMDPI AGApplied Sciences2076-34172022-01-0112253510.3390/app12020535Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc NetworkWenbo Suo0Mengyang Wang1Dong Zhang2Zhongjun Qu3Lei Yu4AVIC Xi’an Flight Automatic Control Research Institute, Xi’an 710076, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi’an 710072, ChinaAVIC Xi’an Flight Automatic Control Research Institute, Xi’an 710076, ChinaScience and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, Beijing 100074, ChinaThe formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs in distributed ad hoc networks, this paper proposed a route-based formation switching and obstacle avoidance method. First, the consistency theory was used to design the UAV swarm formation control protocol. According to the agreement, the self-organized UAV swarm could obtain the formation waypoint according to the current position information, and then follow the corresponding rules to design the waypoint to fly around and arrive at the formation waypoint at the same time to achieve formation switching. Secondly, the formation of the obstacle avoidance channel was obtained by combining the geometric method and an intelligent path search algorithm. Then, the UAV swarm was divided into multiple smaller formations to achieve the formation obstacle avoidance. Finally, the abnormal conditions during the flight were handled. The simulation results showed that the formation control technology based on distributed ad hoc network was reliable and straightforward, easy to implement, robust in versatility, and helpful to deal with the communication anomalies and flight anomalies with variable topology.https://www.mdpi.com/2076-3417/12/2/535fixed-wing UAVUAV swarm formationdistributed ad hoc networkconsistency theoryformation obstacle avoidance |
| spellingShingle | Wenbo Suo Mengyang Wang Dong Zhang Zhongjun Qu Lei Yu Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network Applied Sciences fixed-wing UAV UAV swarm formation distributed ad hoc network consistency theory formation obstacle avoidance |
| title | Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network |
| title_full | Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network |
| title_fullStr | Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network |
| title_full_unstemmed | Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network |
| title_short | Formation Control Technology of Fixed-Wing UAV Swarm Based on Distributed Ad Hoc Network |
| title_sort | formation control technology of fixed wing uav swarm based on distributed ad hoc network |
| topic | fixed-wing UAV UAV swarm formation distributed ad hoc network consistency theory formation obstacle avoidance |
| url | https://www.mdpi.com/2076-3417/12/2/535 |
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