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| A Novel UAV Formation Algorithm Based on MAS |
| WANG Xiao, JI Zhijian
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| School of Automation,Qingdao University, Qingdao 266071,China |
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Abstract UAV swarm has greatly broadened the application fields of UAV, and effectively remedied the shortcomings of single UAV in mission execution. In this paper, a novel algorithm based on multi-agent system (MAS) is designed, which integrates the leaders and followers control algorithms in leader-follower method for UAV formation motion consensus and formation control. This algorithm is suitable for both leaders and followers, and can randomly designate UAV as a leader. Leaders can be influenced by navigation feedback from followers, which improves the adaptability and scalability of the system. Theoretical analysis shows that UAV formation will not collide and converge to the desired formation. Numerical simulations are performed to illustrate the theoretical results and verify the velocity and trajectory tracking abilities of the algorithm. The results show that the algorithm can guarantee a swarm of UAVs to fly in the scheduled formation and track
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Received: 16 May 2019
Published: 19 August 2019
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