面向时间协同的多无人机队形变换最优效率模型

针对无人机（UAV）的编队集结、编队保持和编队重构等队形变换问题，从航迹规划的角度提出了一种面向时间协同的多无人机队形变换模型。在时间协同的条件下，选择队形变换的能源消耗与完成时间作为效率衡量指标，对编队集结、编队保持和编队重构进行规划，给出队形变换的最优空间位置。首先，分析了指定队形、无指定位置的编队集结问题，然后，将编队保持问题视为编队整体运动，最后，利用运动分解将编队重构问题分解为编队集结和编队整体运动。基于编队集结、编队保持和编队重构的不同特点，给出了这些具体队形变换下的最优效率计算公式，并进行了仿真实验，实验结果表明本模型可以实现预期的最优效率队形变换。

Time synergistic optimal efficiency model for formation transformation of multiple UAVs

Aiming at the formation transformation of Unmanned Aerial Vehicle(UAV), including formation assembly, formation maintenance, and formation reconstruction, this paper proposes a multi-UAV formation transformation model which subjects to time coordination from the perspective of track planning. Based on the condition of time synergy, the energy consumption and completion time of the formation transformation are selected as the efficiency measurement indicators. Then the formation assembly, formation maintenance, and formation reconstruction are planned and the optimal spatial position of the formation transformation is given. This paper first analyzes the formation assembly problem with the specified formation and no specified position, then analyzes the formation maintenance problem as the overall movement of the formation. Finally, the motion decomposition is used to decompose the formation reconstruction problem into formation assembly and formation movement. Based on the different characteristics of formation assembly, formation maintenance, and formation reconstruction, the optimal efficiency calculation formulas of these specific formation transformations are given. Finally the simulation experiments are carried out. The experimental results show that the model can achieve the expected optimal efficiency formation transformation.