1. Distributed coordinated control scheme of UAV swarm based on heterogeneous roles
- Author
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Jiaming Sun, Kun Wu, Zhihao Cai, Jiang Zhao, and Yingxun Wang
- Subjects
Scheme (programming language) ,0209 industrial biotechnology ,Basis (linear algebra) ,Computer science ,Mechanical Engineering ,Distributed computing ,Control (management) ,Aerospace Engineering ,Swarm behaviour ,02 engineering and technology ,ComputingMethodologies_ARTIFICIALINTELLIGENCE ,01 natural sciences ,010305 fluids & plasmas ,020901 industrial engineering & automation ,Distributed model predictive control ,0103 physical sciences ,Conflict resolution ,computer ,computer.programming_language - Abstract
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 UAV swarm. Furthermore, a group of coordination strategies 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.
- Published
- 2022