关键词: 分布式, 一致性算法, 协同控制, 多无人机

Abstract:

In the multi-UAV system, the consistency of the system state is the basis for achieving cooperative control of the multi-UAV. Aiming at the three-dimensional space formation control problem in multi-UAV, a distributed and consistent UAV formation coordination control method is proposed. Firstly, on the basis of the multi-UAV system composed of master-slave, the distributed structure is introduced, the model of the UAV control system is designed, and the UAV formation coordination mechanism is established. Secondly, the cooperative formation controller based on the consistency algorithm, the task allocation strategy based on the Hungarian algorithm and the obstacle avoidance strategy are designed according to the cooperative mechanism. Finally, the effectiveness of the collaborative control method is verified by simulation in a simple simulator and a real simulator based on ROS-Gazebo. The results show that the UAV group can effectively complete the cooperative formation task, and can effectively reconstruct the formation by adjusting the hierarchical structure.

Key words: distributed, consensus algorithm, collaborative control, multi-Unmanned Aerial Vehicle（UAV）