Time synergistic optimal efficiency model for formation transformation of multiple UAVs
GU Wei;TANG Jun;BAI Liang;LAO Songyang;College of Systems Engineering,National University of Defense Technology;
Aiming at the formation transformation of Unmanned Aerial Vehicle(UAV),including formation assembly,formation maintenance,and formation reconstruction,this paper proposes a multi-UAV formation transformation model which subjects to time coordination from the perspective of track planning.Based on the condition of time synergy,the energy consumption and completion time of the formation transformation are selected as the efficiency measurement indicators.Then the formation assembly,formation maintenance,and formation reconstruction are planned and the optimal spatial position of the formation transformation is given.This paper first analyzes the formation assembly problem with the specified formation and no specified position,then analyzes the formation maintenance problem as the overall movement of the formation.Finally,the motion decomposition is used to decompose the formation reconstruction problem into formation assembly and formation movement.Based on the different characteristics of formation assembly,formation maintenance,and formation reconstruction,the optimal efficiency calculation formulas of these specific formation transformations are given.Finally the simulation experiments are carried out.The experimental results show that the model can achieve the expected optimal efficiency formation transformation.
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