基于分布式一致性的无人机编队控制方法

多无人机系统中，系统状态的一致性是实现多无人机协同控制的基础，针对多无人机中存在的三维空间编队控制问题，提出一种分布式一致性的无人机编队协同控制方法。在主机-从机组成的多无人机系统的基础上，引入分布式结构，设计无人机控制系统模型并建立无人机编队协同机制。根据协同机制设计基于一致性算法的协同编队控制器、基于匈牙利算法的任务分配策略以及避障策略。分别在简易模拟器和基于ROS-Gazebo的实景模拟器中仿真验证了协同控制方法的有效性。结果表明：无人机群能够有效地完成协同编队任务，并且可以通过调整层次结构进行有效编队重构。

UAV Formation Control Method Based on Distributed Consistency

In the multi-UAV system, the consistency of the system state is the basis for achieving cooperative control of the multi-UAV. Aiming at the three-dimensional space formation control problem in multi-UAV, a distributed and consistent UAV formation coordination control method is proposed. Firstly, on the basis of the multi-UAV system composed of master-slave, the distributed structure is introduced, the model of the UAV control system is designed, and the UAV formation coordination mechanism is established. Secondly, the cooperative formation controller based on the consistency algorithm, the task allocation strategy based on the Hungarian algorithm and the obstacle avoidance strategy are designed according to the cooperative mechanism. Finally, the effectiveness of the collaborative control method is verified by simulation in a simple simulator and a real simulator based on ROS-Gazebo. The results show that the UAV group can effectively complete the cooperative formation task, and can effectively reconstruct the formation by adjusting the hierarchical structure.