Research on cooperative path control of multi-UAV based distributed coordinated strategy

摘要

Multi-UAV cooperative path control strategy has highly theoretical value and practical significance. The paper is organized as follows: Firstly, analyze the characteristics of multi-level distributed control architecture. Secondly, ensure the concept and expression of coordinated variable and coordinated function. Thirdly, identify the multi-level distributed coordination strategies of multi-UAV. Finally, multi-level distributed control based on coordinated variable and coordinated function achieves multi-UAV cooperative planning control with the time constraint based distributed coordinated strategy. Simulation results verify the effectiveness of the algorithm.