| Distributed coordinated control scheme of UAV swarm based on heterogeneous roles |
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| 作者姓名： | Jiang ZHAO Jiaming SUN Zhihao CAI Yingxun WANG Kun WU |
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| 作者单位： | School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China;Flying College,Beihang University,Beijing 100083,China |
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| 基金项目： | co-supported by the National Natural Science Foundation of China (Nos. 61803009, 61903084)；;Fundamental Research Funds for the Central Universities of China (No. YWF-20-BJ-J-542)；;the National Science Foundation of Jiangsu Province, China (No. BK20180358)； |
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| 摘 要： | This paper proposes a new distributed coordinated control scheme based on heterogeneous roles for Unmanned Aerial Vehicle(UAV) swarm to achieve formation control. First, the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC). Then, the effect of heterogeneous roles including leader, coordinator and follower is discussed, and the role-based cost functions are developed to improve the performance of coordinated control for...
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| 收稿时间： | 23 July 2020 |
Distributed coordinated control scheme of UAV swarm based on heterogeneous roles |
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| Jiang ZHAO,Jiaming SUN,Zhihao CAI,Yingxun WANG,Kun WU.Distributed coordinated control scheme of UAV swarm based on heterogeneous roles[J].Chinese Journal of Aeronautics,2022,35(1):81-97. |
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| Authors: | Jiang ZHAO Jiaming SUN Zhihao CAI Yingxun WANG Kun WU |
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| Institution: | 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;2. Flying College, Beihang University, Beijing 100083, China |
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| Abstract: | This paper proposes a new distributed coordinated control scheme based on heteroge-neous roles for Unmanned Aerial Vehicle(UAV)swarm to achieve formation control.First,the framework of the distributed coordinated control scheme is designed on the basis of Distributed Model Predictive Control(DMPC).Then,the effect of heterogeneous roles including leader,coor-dinator and follower is discussed,and the role-based cost functions are developed to improve the performance of coordinated control for UAV swarm.Furthermore,a group of coordination strate-gies are proposed for UAVs with different roles to achieve swarm conflict resolution.Numerical simulations demonstrate that the presented distributed coordinated control scheme is effective to formulate and maintain the desired formation for the UAV swarm. |
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| Keywords: | Coordination strategy Distributed control Heterogeneous roles Swarm intelligence Unmanned Aerial Vehicles(UAV) |
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