基于诱导航线的多无人机编队飞行控制方法

针对无人机编队飞行控制问题，提出了一种基于诱导航线的协同控制方法，僚机根据当前相对于期望位置的误差和长机的飞行状态生成诱导航线并进行跟踪；针对飞行过程中的突发障碍采用改变编队队形的方法进行规避；针对无人机之间可能出现的碰撞情况，根据无人机到达碰撞点的时间以及位置分别从高度以及航向两方面进行躲避，仿真结果表明：采用此方法无人机能够保持稳定的编队，并同时能够躲避飞行过程中的障碍以及避免飞机之间的碰撞。

Formation flight control method of multiple UAVs based on guidance route

To solve the problem of formation flight control of multiple unmanned aerial vehicles (UAVs), a coordinated control method based on guidance route was proposed. According to the position error between wingman's current location and desired location and the flight status of leader, guidance route was generated for wingman to track. In view of the sudden obstacles during flight, the method of changing formation configuration was used to avoid obstacles. For possible collisions between UAVs, according to UAVs' position and time of arrival at the collision point, UAV avoided collision from two aspects of height and heading. The simulation results demonstrate that using this method, UAV can maintain stable formations, and meanwhile be able to avoid the obstacles during the flight and avoid the collision between aircrafts.