通信拓扑变化条件下多无人机同时到达控制策略

Aimed at changing in communication topology due to partial link/node failure in the battlefield, and for satisfying the weakest connectivity criteria of consensus algorithm, the strategy of judging in real time whether the communication topology among UAVs has a directed spanning tree or sub-tree and the strategy of acquiring the expected minimum partial link change suggestion for the topology containing a directed spanning tree again are designed. Based on the above strategies and selecting ETA (Estimated Time of Arrival) as coordinated variable, the consensus algorithm ensures that after some time all the members or part members of the UAVs arrive simultaneously. The strategy is put forword which the UAVS are controlled arriving simultaneously on the planed virtual sub-goal waypoints one by one along the flight path. Through the strategy, the UAVs fly together soon and arrive simultaneously at last. It is helpful to improve the survival rate of UAVs and preserve the communication connectivity of UAVs which is usually distance-dependent. The simulation results show that the above strategies are effective.