用虚拟质心实现无人机群复杂编队与轨迹动态控制
Flocking behavior for dynamic and complex swarm structures
- 基于虚拟质心构建群集行为算法，支持动态调整编队结构
- 仿真与实测均验证了复杂编队和轨迹下的稳定性与简易性
- 适合需要灵活编队的多无人机系统研发者参考
维持多架无人机的复杂结构编队并实现复杂轨迹仍是重大挑战。本文提出一种基于虚拟质心概念的无人机群集行为算法，可简便构建群集结构。该方法建立在经典的虚拟基行为基础上，为动态控制智能体数量与编队结构提供了理论框架。通过仿真测试与真实实验验证，即使在复杂编队和复杂轨迹下，该方法仍表现出良好的性能与简洁性。
原文摘要 · Abstract (English)
Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.
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