Cooperative Navigation of Large-Scale UAV Swarms Based on Network Formation Games

Large-scale UAV swarms can adapt to various task environments and requirements, enhancing operational capabilities. In traditional full-connected cooperative strategy, all reference UAVs and assisted UAVs are interconnected, resulting in complex cooperative network structures, significant resource waste, and an inability to ensure real-time navigation and positioning. Therefore, this paper proposes a game-connected cooperative strategy. A game graph model is established, and a game-based network formation strategy for cooperative navigation is proposed, allowing UAVs to autonomously select cooperative connections. Simulation results demonstrate that the proposed algorithm simplifies the UAV network structure while effectively ensuring swarm navigation and positioning accuracy. It significantly improves computational efficiency for swarm navigation and is of great importance for enhancing the adaptability and real-time performance of large-scale UAV navigation.