Formation reconstruction is an important issue in the control of Unmanned Aerial Vehicles (UAVs). It refers to the transformation of UAVs from one formation to another in a safe and collisionfree manner following the requirements. The difficulty lies in rapidly planning the optimal safety trajectory and controlling UAVs for high-precision tracking of trajectory attitude. The above problems of formation reconstruction of UAVs are studied. Firstly, based on the algorithm of Concurrent Assignment and Planning of Trajectories(CAPT), the real-time problem of target allocation and trajectory generation of UAVs is solved, which realizes the optimal safe path planning. Secondly, a finite time multivariable integral sliding mode control algorithm is proposed to solve the high-precision trajectory and attitude tracking problem of UAVs. MATLAB simulation verifies the effectiveness of this control alqorithm. Finally, in order to simulate the UAV more directly and accurately, the UAV simulation platform based on the Gazebo-ROS structure is built, which realizes the whole "modeling, simulation and visualization" simulation process of formation reconstruction of 12 UAVs. The results verify the applicability of the above control strategy and path planning algorithm.
LU Yanmei
,
ZONG Qun
,
ZHANG Xiuyun
,
LU Hanchen
,
ZHANG Ruilong
. Formation reconstruction and virtual simulation verification of swarm UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020
, 41(4)
: 323580
-323580
.
DOI: 10.7527/S1000-6893.2019.23580
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