Connectivity-Maintenance UAV Formation Control in Complex Environment
Liangbin Zhu, Cheng Ma, Jinglei Li, Lu Yue, Qinghai Yang
Abstract
Cooperative formation control is the research basis for various tasks in the multi-UAV network. However, in a complex environment with different interference sources and obstacles, it is difficult for multiple UAVs to maintain their connectivity while avoiding obstacles. In this paper, a Connectivity-Maintenance UAV Formation Control (CMUFC) algorithm is proposed to help multi-UAV networks maintain their communication connectivity by changing the formation topology adaptively under interference and reconstructing the broken communication topology of a multi-UAV network. Furthermore, through the speed-based artificial potential field (SAPF), this algorithm helps the multi-UAV formation to avoid various obstacles. Simulation results verify that the CMUFC algorithm is capable of forming, maintaining, and reconstructing multi-UAV formation in complex environments.