无人机编队协调控制算法的设计及3D仿真实现

介绍了无人机编队队形保持的协调控制算法设计、3D模型地面处理、基于三维地图的3D模型绘制显示模块的设计，并进行了嵌入式下的仿真实验。基于智能体编队的一致性算法提出了队形保持的全状态反馈协调控制算法，可以实现在机动过程中的队形保持。采用三维建模软件3DMax构建3D模型原型，设计了3D模型读取绘制的流程，实现了3D模型显示。将3D模型绘制显示模块融合在三维地图软件中进行嵌入式测试，绘制效率、读取速度对三维地图软件影响很小。3D模型绘制显示模块丰富了三维地图软件的显示内容，增强了立体效果，提高了用户体验。

Design and Implement of 3D Simulation for UAV Formation Control

This paperpresents thedesign of a formations coordinated control algorithm in the UAV formation keepingand itintroduces the ground process of the model and module display based on 3D map, and takes the experiment in the embedded system. Based on the consensus of the theory, the paper proposes a full state feed back controller, which can keep formation in the process of UAVs formation keeping. In this paper, we use the 3D modeling software 3D Max to design prototype, design the process toread and draw 3D models, achieving the 3D model display. In this paper, the module is integrated in the 3D map software for embedded testing, less impacts in rendering efficiency and read speed. 3D model display module enrichesthe display range of the map software, enhancing the three-dimensional effect and improving the user experience.