工程科学学报.第41卷，第12期：1599-1608.2019年12月 Chinese Journal of Engineering,Vol.41,No.12:1599-1608,December 2019 D0L:10.13374.issn2095-9389.2018.12.18.001,http:/ournals.ustb.cdu.cn 仿鸿雁编队的无人机集群飞行验证 杨 庆)，段海滨1,2)☒ 1)北京航空航天大学飞行器控制一体化技术重点实验室仿生自主飞行系统研究组，北京1000832)鹏城实验室，深圳518000 ☒通信作者，E-mail:hbduan@buaa.edu.cn 摘要为了降低无人机集群控制的复杂度，高效解决大规模无人机集群控制和长距离飞行时集群变拓扑问题，设计了一种 仿鸿雁群编队的无人机集群自主协同控制方法，借鉴自然界中的鸿雁编队行为机制，开发了面向无人机平台的分布式仿生集 群控制系统.鸿雁是一种常见的集群鸟类，其在迁徙途中表现的自组网和编队变拓扑行为与无人机集群飞行有极高的相似 性。仿鸿雁编队行为机制的无人机集群飞行验证系统采用了低成本四旋翼无人机，利用无线局域网进行组网通信.外场飞行 试验结果表明，自然界中的鸿雁编队行为机制有助于无人机集群的快速精准编队控制，实现了无人机的位置实时变拓扑，提 高了无人机集群飞行的鲁棒性 关键词无人机：鸿雁：集群编队；分布式控制：局部通信 分类号V279 Verification of unmanned aerial vehicle swarm behavioral mechanism underlying the formation of Anser cygnoides YANG Qing.DUAN Hai-bin2 1)Bio-inspired Autonomous Flight Systems Research Group,Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100083,China 2)Peng Cheng Laboratory,Shenzhen 518000,China Corresponding author,E-mail:hbduan@buaa.edu.cn ABSTRACT A coordinated autonomous control algorithm of unmanned aerial vehicle (UAV)swarm was proposed to reduce the complexity of UAV swarm control and solve the problem of changing topological structures in long-distance flight of UAV swarms efficiently.As the UAV swarms,especially fixed-wing ones,fly in a close formation,the influence and benefit of aerodynamic coupling between UAV in swarms should be considered.This paper focused on the application of biological swarm behavior mechanism,which can be used to form the shape of formation and adjust the topological structures of UAV swarm,and not the models of the aerodynamic coupling between UAVs in swarms.The distributed swarm control model of biological swarms based on the behavioral mechanism of Anser cygnoides formation was presented.A novel distributed swarm control system based on the behavioral mechanism of Anser cygnoides formation for low-cost UAVs was developed.Anser cygnoides is a common bird that lives in swarms.Its self-organizing network and formation topology behavior on the manner of migration exhibit high similarities with the application of UAV swarm.The paper designed an experimentation with a UAV swarm system using quadrotors,which communicate wirelessly using a Wi-Fi,to test and verify the feasibility of the proposed novel distributed swarm control algorithm.The field experimentation involved flying the five low-cost quadrotors in a "V"formation,and the position exchange of UAVs was achieved during the experimentation.The whole formation with the five quadrotors flew at a continuous speed during the whole experimentation,whereas the flight mode of fixed-wing 收稿日期：2018-12-18 基金项目：国家自然科学基金资助项目(91948204,91648205,61425008)仿鸿雁编队的无人机集群飞行验证 杨    庆1)，段海滨1,2) 苣 1) 北京航空航天大学飞行器控制一体化技术重点实验室仿生自主飞行系统研究组，北京 100083    2) 鹏城实验室，深圳 518000 苣通信作者，E-mail：hbduan@buaa.edu.cn 摘    要    为了降低无人机集群控制的复杂度，高效解决大规模无人机集群控制和长距离飞行时集群变拓扑问题，设计了一种 仿鸿雁群编队的无人机集群自主协同控制方法，借鉴自然界中的鸿雁编队行为机制，开发了面向无人机平台的分布式仿生集 群控制系统. 鸿雁是一种常见的集群鸟类，其在迁徙途中表现的自组网和编队变拓扑行为与无人机集群飞行有极高的相似 性. 仿鸿雁编队行为机制的无人机集群飞行验证系统采用了低成本四旋翼无人机，利用无线局域网进行组网通信. 外场飞行 试验结果表明，自然界中的鸿雁编队行为机制有助于无人机集群的快速精准编队控制，实现了无人机的位置实时变拓扑，提 高了无人机集群飞行的鲁棒性. 关键词    无人机；鸿雁；集群编队；分布式控制；局部通信 分类号    V279 Verification  of  unmanned  aerial  vehicle  swarm  behavioral  mechanism  underlying  the formation of Anser cygnoides YANG Qing1) ，DUAN Hai-bin1,2) 苣 1) Bio-inspired Autonomous Flight Systems Research Group, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100083, China 2) Peng Cheng Laboratory, Shenzhen 518000, China 苣 Corresponding author, E-mail：hbduan@buaa.edu.cn ABSTRACT    A  coordinated  autonomous  control  algorithm  of  unmanned  aerial  vehicle  (UAV)  swarm  was  proposed  to  reduce  the complexity of UAV swarm control and solve the problem of changing topological structures in long-distance flight of UAV swarms efficiently. As the UAV swarms, especially fixed-wing ones, fly in a close formation, the influence and benefit of aerodynamic coupling between UAV in swarms should be considered. This paper focused on the application of biological swarm behavior mechanism, which can be used to form the shape of formation and adjust the topological structures of UAV swarm, and not the models of the aerodynamic coupling between UAVs in swarms. The distributed swarm control model of biological swarms based on the behavioral mechanism of Anser cygnoides formation  was  presented.  A  novel  distributed  swarm  control  system  based  on  the  behavioral  mechanism  of Anser cygnoides formation  for  low-cost  UAVs  was  developed. Anser cygnoides is  a  common  bird  that  lives  in  swarms.  Its  self-organizing network and formation topology behavior on the manner of migration exhibit high similarities with the application of UAV swarm. The paper designed an experimentation with a UAV swarm system using quadrotors, which communicate wirelessly using a Wi-Fi, to test and verify the feasibility of the proposed novel distributed swarm control algorithm. The field experimentation involved flying the five low-cost  quadrotors  in  a “V” formation,  and  the  position  exchange  of  UAVs  was  achieved  during  the  experimentation.  The  whole formation with the five quadrotors flew at a continuous speed during the whole experimentation, whereas the flight mode of fixed-wing 收稿日期: 2018−12−18 基金项目: 国家自然科学基金资助项目（91948204，91648205，61425008） 工程科学学报，第 41 卷，第 12 期：1599−1608，2019 年 12 月 Chinese Journal of Engineering, Vol. 41, No. 12: 1599−1608, December 2019 DOI：10.13374/j.issn2095-9389.2018.12.18.001; http://journals.ustb.edu.cn