关键词: 无人机编队, 信息交互拓扑, 分级分簇, 队形保持, 领航-跟随者

Abstract: The optimization design of the UAV formation information interaction topology is an important foundation to ensure safety and task execution efficiency of UAV formations. The generation algorithm of the UAV formation information interaction topology is currently limited to small-scale formation with a single optimization goal. To solve this problem, a hierarchical clustering structure is adopted to raise the information interaction topology level to meet the large-scale scene. A hierarchical distributed leader-follower formation information interaction topology generation algorithm based on the minimum cost arborescence is also proposed to improve the formation endurance and reduce the total communication cost of the formation. The simulation results are verified by OMNeT++. The experimental results show that the total communication cost of the hierarchical distributed leader-follower formation is significantly lower than that of the traditional leader-follower formation when considering the transfer iteration of position errors; the energy consumption of the network is more balanced and the endurance of the formation is improved through periodically updating the cluster head; at the formation scale of 80 UAVs, the hierarchical distributed leader-follower formation generation algorithm can be solved in 0.3 s, about 2.5 times that of traditional leader-follower formation algorithm; at the formation scale of 100 UAVs, the hierarchical distributed leader-follower formation generation algorithm can be solved within 0.4 s, while the traditional leader follower formation cannot maintain the original formation due to the transfer iteration of position errors.

Key words: UAV formation, information interaction topology, hierarchical clustering, formation keeping, leader-follower