Abstract:

Aiming to deal with the shortage of existed methods used in the control of large-scale swarm systems, an autonomous cooperative flight and evasion control method of unmanned aerial vehicle (UAV) swarm systems is put forward for UAV swarms based on rules. Inspired by the swarm intelligence, the basic flight rules of members in the UAV swarm are defined to realize the normal flight and formation reconfiguration. Then, the evasion is viewed as a new flight rule, and the group evasion mechanism and member evasion mechanism are built by setting corresponding rule weights. Finally, the stability of the UAV swarm systems is proved based on the linear feedback control. Simulation results indicate that the proposed method could realize the normal flight of the UAV swarm and solve the evasion problem efficiently, and the realtime performance is very good.