Hierarchical Distributed Control of UAV Cluster Based on the Behavior of Chickens

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Hierarchical Distributed Control of UAV Cluster Based on the Behavior of Chickens

Lin, Wenxuan / Xie, Wenjun / Zhang, Peng / Chi, Wensheng / Ji, Liangjie

Aiming at the problem of UAV cluster formation control, combined with distributed and centralized control architecture, and referring to the idea of chicken foraging in nature, a three-layer hierarchical distributed control architecture of UAV cluster is proposed. The ground station and other command systems are set as the top layer, and the UAV is divided into group leader and follow UAV, which are set as the middle layer and the bottom layer respectively. The upper layer adopts centralized control over the lower layer, and the same layer adopts distributed control. On this basis, the UAV formation control method is designed, and the following, keeping and obstacle avoidance control methods are designed for different layer of UAVs. Taking the generation and maintenance of UAV cluster formation as the experimental background, the comparative simulation experiments of UAV cluster under distributed, centralized and hierarchical distributed control architecture are carried out. The experimental results show that the hierarchical distributed control architecture has obvious advantages in UAV cluster formation stability, speed consistency and reducing communication load, and verify the effectiveness of the proposed UAV formation control method.

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Document information

Title :

Hierarchical Distributed Control of UAV Cluster Based on the Behavior of Chickens

Additional title:

Lect. Notes Electrical Eng.

Contributors:

Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Lin, Wenxuan (author) / Xie, Wenjun (author) / Zhang, Peng (author) / Chi, Wensheng (author) / Ji, Liangjie (author)

Conference:

International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022

Published in:

Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 44 ; 466-477

Lecture Notes in Electrical Engineering ; 1010

Publication date :

2023-03-10

Size :

12 pages

ISBN :

978-981-99-0479-2 , 978-981-99-0478-5

ISSN :