Abstract:

Aiming at the conundrum of multi-unmanned aircraft vehicle (UAV) cooperative control, the key problems of UAV swarm（UAVS）selforganized flight modeling and control are focused to study. Firstly, based on the swarm intelligence theory, the UAVS system concept model is louilt, in the condition of considering four factors of repulsion, matching, attracting and agent’s desire action, the swarm control’s alterable coefficient repulsion matching attracting desire (RMAD) model is presented. Based on these models, the UAVS self-organized flight control problems are studied on the following two conditions. One is all of the agents in swarm learned the information of the flight path and the other one is that part agents learned the information. The UAVS self-organized flight control strategy is presented which achieves UAVS’s controllable self-organized flight. Simulation results show that the RMAD model and the proposed methods are feasible, which lay an academic and experimental foundation for UAVS’s engineering application.