An improved multiple UAVs cooperative flight algorithm based on Leader Follower strategy

摘要

With the development of micro unmanned aerial vehicles (UAVs), the UAVs have broad prospects and social needs in many fields such as disaster rescue, fire alarm, road reconnaissance, logistics transportation and so on. Compared to the single drone, multiple UAVs cooperation can enhance the efficiency and the capacity on load handling. In this paper, an improved multiple UAVs cooperative flight algorithm is proposed based on Leader Follower strategy. The Ultra Wide Band (UWB) ranging modules are applied to multiple UAVs cooperative flight, the relative distance between the UAVs provided by the UWB modules and the segmented waypoints GPS information are combined to achieve a cooperative flight. The cooperative algorithm consists of two main parts: the relative distance control is based on ESO (extended state observer), which can effectively guarantee the movement consistency and avoid the collision during flight; the transverse correction algorithm can ensure the following UAV track the leader tightly by segmented waypoints GPS information. Compared to the original Leader Follower strategy, this algorithm does not need complex communication protocols and higher real-time information processing ability. Meanwhile, it can achieve cooperative flight even when there exists a larger disturbance.