Manned Aircraft and Unmanned Aerial Vehicle Heterogeneous Formation Flight Control via Heterogeneous Pigeon Flock Consistency

摘要

The heterogeneous pigeon flock showed higher leadership stability than the homogeneous flock. In this paper, a control model applied to manned aircraft and Unmanned Aerial Vehicle heterogeneous formation flight is designed. During the smoothing trajectory, the swarm employed the distributed communication network and event-triggered interactive mechanism. During the turning trajectory, the centralized and distributed communication networks were integrated. Simulation tests demonstrated that the proposed control algorithm was feasible to form a cohesive group and effectively avoid obstacles in unknown environment.