The heterogeneous pigeon flock showed higher leadership stability than the homogeneous flock. In this paper, a control model applied to manned aircraft and Unmanned Aerial Vehicle heterogeneous formation flight is designed. During the smoothing trajectory, the swarm employed the distributed communication network and event-triggered interactive mechanism. During the turning trajectory, the centralized and distributed communication networks were integrated. Simulation tests demonstrated that the proposed control algorithm was feasible to form a cohesive group and effectively avoid obstacles in unknown environment.
ANALYSIS OF UNMANNED AERIAL VEHICLE FORMATION FLIGHT CONTROL METHODS