基于信干噪比的无人机集群分布式编队控制算法  

A SINR-based Distributed Formation ControlAlgorithm for UAV Swarms

作　　者：杜智勇 周源利 肜鑫 DU Zhiyong;ZHOU Yuanli;RONG Xin(College of Information and Communication,National University of Defense Technology,Wuhan 430010,China;Joint Staff of Southern Theater,Guangzhou 510080,China)

机构地区：[1]国防科技大学信息通信学院,武汉430010 [2]南部战区联合参谋部,广州510080

出　　处：《电讯技术》2024年第6期920-927,共8页Telecommunication Engineering

基　　金：装备预研重点实验室基金(6142101200205)。

摘　　要：编队控制和组网通信是无人机集群保持队形稳定和执行协同任务的前提条件。现有的编队控制算法侧重于队形控制,往往对无人机之间的通信因素考虑较少。针对无人机集群组网编队问题,设计了基于信干噪比(Signal to Interference plus Noise Ratio, SINR)的分布式编队控制算法。该算法兼顾接入覆盖与网络连通性要求,以SINR为参考构建虚拟作用力,能够使无人机以分布式控制的方式自主移动到通信质量更优的位置并维持稳定的拓扑结构。仿真结果表明,该算法可以适用于不同场景,能够在保证网络连通稳定的前提下优化目标区域用户的通信质量,并且具有较高的接入覆盖率和编队稳定性。Formation control and networking communication are the prerequisite conditions for ummanned aerial vehicle(UAV)swarms to maintain formation stability and perform cooperative tasks.Existing formation control algorithms mainly focus on maintaining formation and often take little consideration of communication between UAVs.For the networked formation issue of UAV swarms,a distributed formation control algorithm based on signal to interference plus noise ratio(SINR)is designed.The proposed algorithm considers both coverage and network connectivity requirements,and constructs virtual forces based on SINR,enforcing the UAVs to move to a position with better communication quality and maintain a stable topology in a distributed manner.Simulation results show that the algorithm can be applied to different scenarios and can optimize the communication quality of users in the target area under the premise of ensuring stable network connectivity,and high coverage and high stability performance is achieved.

关 键 词：无人机集群 编队控制 区域覆盖 网络连通 

分 类 号：TN929.5[电子电信—通信与信息系统]