A Multi UAV Formation Flight Control Method Based on Improved Consistency Principle and Adaptive Particle Swarm Optimization Algorithm

In engineering applications, drone formations can increase search areas and improve task execution efficiency. However, compared with single aircraft flying, multi UAV formation flying puts forward higher requirements for control technology. Based on this, this paper proposes a multi UAV formation flight control method based on improved consistency principle and adaptive particle swarm optimization algorithm. Firstly, based on the principle of consistency, the UAV kinematics and formation state analysis model is constructed. Secondly, according to the UAV flight attitude and dynamic parameters, the boundary constraint conditions are set, and combined with the UAV formation information, the optimal control target of multi aircraft formation flight attitude adjustment is proposed. Finally, the climbing acceleration of single aircraft in each formation is optimized based on adaptive particle swarm optimization algorithm to solve the problem of local optimal solution and avoid the risk of collision between aircraft.