Research and Verification of Multi-UAV Formation Control Based on Grey Wolf Optimization Algorithm

• Published in: Proceedings of ... IEEE International Conference on Unmanned Systems (Online) pp. 295 - 300
• Main Authors: Liu, Boya, Wang, Jianfeng, Chen, Jiayu
• Format: Conference Proceeding
• Language: English
• Published: IEEE 18.10.2024
• Subjects: Aerospace control; airsim; Atmospheric modeling; Autonomous aerial vehicles; Clustering algorithms; Formation control; grey wolf optimization algorithm; Optimization; pixhawk flight control; Python; Quadrotors; raspberry pi; Surveys; Trajectory; UAV swarm
• ISSN: 2771-7372
• DOI: 10.1109/ICUS61736.2024.10839868

With the rapid development of intelligent and unmanned technology, the demand for unmanned equipment in military, electric power, survey and other fields has gradually increased. UAV has unique advantages such as low cost, high flexibility and strong expansibility, and has strong application value in military and industrial fields. However, the tasks that a single UAV can accomplish are limited. In order to better accomplish more complex and intelligent tasks, multi-UAV cooperation under swarm intelligence has become a hot research topic. In this paper, the formation control method of UAV cluster based on grey wolf optimization algorithm is studied. The flight environment and trajectory are modeled and the control algorithm is programmed in Python language. Secondly, based on the Airsim UAV simulation platform, the UAV cluster formation control algorithm is simulated and verified. Finally, nine four-rotor UAVs based on Pixhawk flight control and raspberry pie airborne computer are used to verify the intelligent formation control algorithm adopted in this paper. Through simulation and actual flight verification, the cluster control algorithm adopted in this paper can make the UAV cluster fly safely and smoothly in accordance with the preset route in space.