Coordinative Optimizing Control of Formation Flight for UAVs Based on MAS

摘要

Based on the leader-follower formation mechanism, a large scale UAVs' formation model is proposed with the distributed control structure. And a MAS based coordinative optimizing control strategy is employed to accomplish formation flight missions by the cooperation among the multiple agents of the leader and wingmen. Therefore the design of various wingmen formation controller is carried out and illustrated emphatically. Finally, some formation simulation results are demonstrated and the corresponding formation performance evaluation is given.