仿鸿雁编队的无人机集群飞行验证

为了降低无人机集群控制的复杂度，高效解决大规模无人机集群控制和长距离飞行时集群变拓扑问题，设计了一种仿鸿雁群编队的无人机集群自主协同控制方法，借鉴自然界中的鸿雁编队行为机制，开发了面向无人机平台的分布式仿生集群控制系统。鸿雁是一种常见的集群鸟类，其在迁徙途中表现的自组网和编队变拓扑行为与无人机集群飞行有极高的相似性。仿鸿雁编队行为机制的无人机集群飞行验证系统采用了低成本四旋翼无人机，利用无线局域网进行组网通信。外场飞行试验结果表明，自然界中的鸿雁编队行为机制有助于无人机集群的快速精准编队控制，实现了无人机的位置实时变拓扑，提高了无人机集群飞行的鲁棒性。 

Verification of unmanned aerial vehicle swarm behavioral mechanism underlying the formation of Anser cygnoides

A coordinated autonomous control algorithm of unmanned aerial vehicle (UAV) swarm was proposed to reduce the complexity of UAV swarm control and solve the problem of changing topological structures in long-distance flight of UAV swarms efficiently. As the UAV swarms, especially fixed-wing ones, fly in a close formation, the influence and benefit of aerodynamic coupling between UAV in swarms should be considered. This paper focused on the application of biological swarm behavior mechanism, which can be used to form the shape of formation and adjust the topological structures of UAV swarm, and not the models of the aerodynamic coupling between UAVs in swarms. The distributed swarm control model of biological swarms based on the behavioral mechanism of Anser cygnoides formation was presented. A novel distributed swarm control system based on the behavioral mechanism of Anser cygnoides formation for low-cost UAVs was developed. Anser cygnoides is a common bird that lives in swarms. Its self-organizing network and formation topology behavior on the manner of migration exhibit high similarities with the application of UAV swarm. The paper designed an experimentation with a UAV swarm system using quadrotors, which communicate wirelessly using a Wi-Fi, to test and verify the feasibility of the proposed novel distributed swarm control algorithm. The field experimentation involved flying the five low-cost quadrotors in a " V” formation, and the position exchange of UAVs was achieved during the experimentation. The whole formation with the five quadrotors flew at a continuous speed during the whole experimentation, whereas the flight mode of fixed-wing UAV was simulated. The field experimentation shows that the formation mechanism of the migrant bird helps in realizing the distributed formation reconfiguration control of the UAV swarm and improves the robustness of the UAV swarm flight and verifies the feasibility of the novel distributed swarm control algorithm.