Central-distributed Control Model of UAV Group and its application in Perception Module

Control model is the basis of UAV group. It determines the direction of control data flow as well as the structure of UAV group. In this paper, an improved central-distributed UAV group control model is proposed and the structure of UAV group under this model is derived. This model overcomes the problem of lacking robustness of centralized model and the complexity of fully distributed model as well as has the characteristics of modularization and autonomy. At the same time, the existing algorithms for the perception module of UAV group under this structure can be greatly simplified. The computing tasks that need to be passed to the ground control station can be done inside the UAV group.