Abstract
The high efficiency of control between multiple drones has become a hot topic of research nowadays. Due to the increased demand for combat operations and the increasing number of drones, the efficiency of control between multiple drones has become a hot research topic. Drawing on the principles of some communication in swarm intelligence, it is of great significance for realizing the autonomous cooperative control between UAVs. Learning from the Olfati-Saber algorithm, this paper proposes an optimized algorithm with virtual leaders, in order to make the group speed converge faster and more stable. Then, this paper also shows the impact of variable-speed virtual leaders on complex drone communication systems. Subsequently, two models are simply analyzed and compared with each other in the article. Through the simulation, we prove the effectiveness of certain variable speed virtual leaders for decentralized clusters of complex UAV systems, which improves the application of Olfati-Saber model in practice.
This work was supported in part by the National Key Research and Development Program (Grant Nos. 2016YFB1200100), and the National Natural Science Foundation of China (NSFC) (Grant Nos. 61827901 and 91738301).
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Jing, Y. (2021). Research on Multi-UAV Swarm Control Based on Olfati-Saber Algorithm with Variable Speed Virtual Leader. In: Li, B., Li, C., Yang, M., Yan, Z., Zheng, J. (eds) IoT as a Service. IoTaaS 2020. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 346. Springer, Cham. https://doi.org/10.1007/978-3-030-67514-1_2
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