仿射编队控制只需要部分关键节点的构型就能够实现整体编队队形的生成与变换，灵活性高，可扩展性好。针对固定翼无人机集群仿射编队控制问题，设计了包含长机协同路径跟随、僚机跟踪及碰撞规避的仿射编队分层控制方案，该方案将集群划分为长机层和僚机层：多架长机在跟随预设路径运动的同时协同生成集群编队所需的基准构型，僚机只需跟踪由长机位置张成的仿射编队中的期望位置，同时通过碰撞规避控制使集群内每架无人机避开环境障碍物并避免机间互碰。相比现有算法，该方法的避障成功率更高，并能实现机间避碰，僚机跟踪误差收敛速度更快。进一步基于ROS和Gazebo搭建的XTDrone平台完成了六架无人机软件在环仿真，仿真中无人机能完成期望仿射编队，并实现全程无碰撞地安全飞行，相关代码已开源发布。

Affine formation control can generate and transform the overall formation by only using the configurations of some key nodes, featuring high flexibility and good scalability. For the affine formation control problem of fixed - wing UAV swarms, an affine formation hierarchical control scheme is designed, which includes leader cooperative path following, follower tracking and colli-sion avoidance. This scheme divides the swarm into a leader layer and a follower layer: multiple leaders cooperatively generate the reference configuration required for the swarm formation while following the preset path, followers only need to track the desired positions in the affine formation spanned by the leader positions. Meanwhile, through collision - avoidance control, each UAV in the swarm can avoid environmental obstacles and inter - UAV collisions. Compared with existing algorithms, this method has a higher obstacle - avoidance success rate, can achieve inter - UAV collision avoidance, and the convergence speed of the follower tracking error is faster. Furthermore, a software - in - the - loop simulation of six UAVs is completed on the XTDrone platform built based on ROS and Gazebo. In the simulation, UAVs can form the desired affine formation and fly safely without collisions throughout the process. The relevant codes have been open - sourced.