METHOD AND APPARATUS FOR MESSAGE SUBSCRIPTION-BASED UNMANNED AERIAL VEHICLE CLUSTER NETWORKING, AND SYSTEM

摘要

Disclosed are a method and apparatus for message subscription-based unmanned aerial vehicle (UAV) cluster networking, and a system. In the system, a UAV node is provided with a topic publish-subscribe module, and each UAV stores respective location information into a respective node information base. When a new UAV is added to a cluster or a UAV formation position changes, each UAV calculates a central node as a recommended main control node according to position information of the UAV in the node information base, and publishes same by means of the topic publish-subscribe module. By means of the topic publish-subscribe module, each UAV acquires recommended main control nodes calculated by other UAVs, and counts whether the node thereof is recommended by other nodes as a main control node. If so, then the node is switched to the main control node; otherwise, the node is switched to a slave control node. Therefore, a UAV cluster independently selects a main control node, and the main control node is located in a central position.