Flocking of UAV Formation with Wireless Ultraviolet Communication
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Flocking of UAV Formation with Wireless Ultraviolet Communication Taifei Zhao1 · Ying Xie1 · Shan Xu1 · Jing Wang1 · Hua Wang1
© Springer Science+Business Media, LLC, part of Springer Nature 2020
Abstract Wireless solar blind ultraviolet (UV) scattering communication is a new type of atmosphere optics communication technology with the important and potential advantages of all-weather, non-line-of-sight and secret communication, which is suitable for the needs of cluster security of Unmanned Aerial Vehicle (UAV) formation flight. UV communication technology can be applied to share UAVs status information, combined with efficient formation control method can achieve autonomous assembly, collision avoidance and formation keeping in UAV formation flight. In order to avoid the collision avoidance problem between the UAVs in the classic formation control algorithm. In this paper, the artificial potential function of the formation control algorithm is improved and the improved algorithm is applied to a single virtual leader UAV and multi-virtual leader UAVs. The simulation results show that the algorithm can ensure that the UAVs speed in the formation is consistent with the speed of the virtual leader UAV. In the course of the flight, the UAVs can avoid collision. Finally, the formation flight is completed with the desired formation. Keywords Ultraviolet communication · UAV formation · Flocking · Artificial potential function
1 Introduction Unmanned Aerial Vehicle (UAV) is a kind of unmanned aircraft controlled remotely by the radio and program. Nowadays, many researchers [1] study on multiple UAVs performing various missions. In practical applications, UAVs often need to form formation autonomously and maintain formation to fly to destination. This paper uses the theory of flocking control in multi-agent system to solve the self-organization problem of UAV formation. Flocking [2] is the phenomenon that a large number of agents organize into a coordinated motion. Flocking groups generally have the characteristics [3] of self-organization, concurrency, interactivity and robustness. Its application in the field of engineering includes selforganizing mobile network, UAV formation [4], and underwater robot detection [5]. * Taifei Zhao [email protected] 1
Faculty of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, Shaanxi, China
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The formation control technology of multi UAV is one of the research hotspots in the field of control in recent years. It involves the subjects of control, communication, artificial intelligence and aerodynamics. However, the UAV formation network has the characteristics [6] of large network scale, fast change of network topology, high speed of node movement, interruption of wireless communication chain and time change of channel, and so on. The transmission in this region (particularly from 200 to 280 nm), also known as the solar-blind band. Wireless solar blind ultraviolet (UV) scattering communication is a new t
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