Journal of Computer Applications ›› 2021, Vol. 41 ›› Issue (5): 1477-1483.DOI: 10.11772/j.issn.1001-9081.2020081314

Special Issue: 前沿与综合应用

• Frontier & interdisciplinary applications • Previous Articles     Next Articles

Survey of unmanned aerial vehicle cooperative control

MA Ziyu, HE Ming, LIU Zujun, GU Lingfeng, LIU Jintao   

  1. College of Command and Control Engineering, Army Engineering University of PLA, Nanjing Jiangsu 210000, China
  • Received:2020-08-13 Revised:2020-11-19 Online:2021-05-10 Published:2020-12-09
  • Supported by:
    This work Is partially supported by the National Key Research and Development Program of China (2018YFC0806900), the China Postdoctoral Science Foundation (2018M633757), the Key Research and Development Program of Jiangsu Province (BE2017616, BE2018754, BE2019762), the Jiangsu Provincial Postdoctoral Science Foundation (2019K185).


马子玉, 何明, 刘祖均, 顾凌枫, 刘锦涛   

  1. 中国人民解放军陆军工程大学 指挥与控制工程学院, 南京 210000
  • 通讯作者: 何明
  • 作者简介:马子玉(1996-),男,江苏宿迁人,硕士,主要研究方向:无人机集群协同控制;何明(1978-),男,新疆石河子人,教授,博士生导师,博士,主要研究方向:大数据、无人机集群协同控制;刘祖均(1996-),男,安徽宿州人,硕士,主要研究方向:无人机集群协同控制;顾凌枫(1991-),男,江苏靖江人,硕士,主要研究方向:无人机集群协同控制;刘锦涛(1981-),男,山东烟台人,博士,主要研究方向:多智能体系统协同控制。
  • 基金资助:

Abstract: Unmanned Aerial Vehicle (UAV) cooperative control means that a group of UAVs based on inter-aircraft communication complete a common mission with rational division of labor and cooperation by using swarm intelligence as the core. UAV swarm is a multi-agent system in which many UAVs with certain independence ability carry out various tasks based on local rules. Compared with a single UAV, UAV swarm has great advantages such as high efficiency, high flexibility and high reliability. In view of the latest developments of UAV cooperative control technology in recent years, firstly, the application prospect of multi-UAV technology was illustrated by giving examples from the perspectives of civil use and military use. Then, the differences and development statuses of the three mainstream cooperative control methods:consensus control, flocking control and formation control were compared and analyzed. Finally, some suggestions on delay, obstacle avoidance and endurance of cooperative control were given to provide some help for the research and development of UAV collaborative control in the future.

Key words: Unmanned Aerial Vehicle (UAV), cooperative control, flocking control, consensus, formation control

摘要: 无人机(UAV)协同控制是指一组UAV以机间通信为基础、群体智能为核心,合作分工完成某一共同任务的控制方式。UAV集群是拥有一定自主能力的大量UAV基于局部规则执行各项任务的多智能体系统,与单架UAV相比,UAV集群有着高效率、高灵活性和高可靠性等优点。针对近几年UAV协同控制技术的最新发展动态,首先,从民用和军事两个角度举例说明多UAV技术的应用前景;接着,对比分析一致性控制、蜂拥控制和编队控制这三种主流协同控制方式的区别与发展现状;最后,对协同控制面临的时延、避障和续航等问题提出几点建议,为未来UAV协同控制研究发展提供一定帮助。

关键词: 无人机, 协同控制, 蜂拥控制, 一致性, 编队控制

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