Multi UAV Cluster Control Method Based on Virtual Core in Improved Artificial Potential Field

In this paper, a method of multi UAV cluster control based on improved artificial potential field (APF) is proposed. The k-means method is used to integrate and optimize the attractive force between UAVs, and the concept of virtual core is introduced to realize the cluster control and adaptive formation flight of multiple UAVs. The attractive disturbance component of the target point is introduced and the backtracking-filling method is proposed to solve the local minimum problem in the APF. The repulsion force in the APF can realize obstacle avoidance and collision avoidance, and the virtual core can control the UAV cluster to fly to the target point under the attractive force of potential field, so as to realize the track planning and multi aircraft cooperative task. In the process of cluster flight when the UAV fails, merges or dispatches, the method can realize cluster reconfiguration and the cluster control effect and task execution success rate can be improved. The simulation experiments in virtual APF and urban environment APF show the effectiveness of this method.