| Citation: | ZHU Chuangchuang, LIANG Xiaolong, ZHANG Jiaqiang, et al. Demonstration and verification system for UAV swarm formation control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600(in Chinese)
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In order to verify the effectiveness of the formation control algorithms of UAV swarm in the actual environment, a distributed UAV swarm formation control demonstration and verification system consisting of UAV platform, two sets of ground station and data link was built under outdoor conditions. The control system of UAV was divided into executive layer and decision layer on the basis of the idea of hierarchical control and encapsulation. The PIX autopilot was encapsulated in the executive layer, and the control strategy of heterogeneous swarm can be realized only with autopilot parameter modification and without corresponding control strategy development for different UAV platforms. When the different control algorithms need to be verified, control algorithm for decision layer can be modified so that the system has strong adaptability and scalability. Two sets of ground control stations and data links are adopted, which can achieve the multi-UAV control under a variety of interaction topology or in the case of communication failure and ensure the system's robustness and security. The demonstration and verification system's function and performance are verified with the leader-follower synergy formation control algorithm.
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