论文标题
在飞机损失的情况下，分布式自主无人机形成的适应策略
Adaptation Strategy for a Distributed Autonomous UAV Formation in Case of Aircraft Loss
论文作者
论文摘要
如果丢失单个无人机代理，则通常在恢复连接图的背景下考虑控制分布式自动无人机（UAV）形成。同时，几乎没有重点放在这样的损失如何影响形成的动力学的系统方面。为了弥补负面影响，我们提出了一种适应算法，该算法减少了构成中存在的无人机代理之间的相互作用的增加。该算法使自主系统能够适应新的平衡状态。该算法已通过计算机模拟在完整的非线性无人机模型上测试。仿真结果证明了要完全消除的负面影响（提高地层的最终巡航速度）。
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such loss affects the dynamics of the formation as a system. To compensate for the negative effects, we propose an adaptation algorithm that reduces the increasing interaction between the UAV agents that remain in the formation. This algorithm enables the autonomous system to adjust to the new equilibrium state. The algorithm has been tested by computer simulation on full nonlinear UAV models. Simulation results prove the negative effect (the increased final cruising speed of the formation) to be completely eliminated.
