航空学报2026，Vol.47Issue(9)：232-249,18.DOI:10.7527/S1000-6893.2025.32494
固定翼无人机集群仿射编队分层控制方法
Hierarchical control method for affine formation of fixed-wing UAV swarm
摘要
Abstract
Affine formation control can generate and transform the overall formation by only using the configurations of a few key nodes,featuring high flexibility and good scalability.For the affine formation control problem of fixed-wing UAV swarms,an affine formation hierarchical control scheme is designed,incorporating leader cooperative path fol-lowing,follower tracking,and collision avoidance.This scheme divides the swarm into a leader layer and a follower layer:multiple leaders cooperatively generate the reference configuration required for the swarm formation while follow-ing the preset path,followers only need to track the desired positions in the affine formation spanned by the leader po-sitions.Meanwhile,collision avoidance control ensures that each UAV avoids environmental obstacles and prevents inter-UAV collisions.Compared with existing algorithms,this method achieves a higher obstacle avoidance success rate,guarantees inter-UAV safety,and enables faster convergence of follower tracking error.Furthermore,a software-in-the-loop simulation of six UAVs is completed on the XTDrone platform built based on ROS and Gazebo.In the simulation,UAVs can form the desired affine formation and fly safely without collisions throughout the process.The relevant codes have been-released as open source.关键词
固定翼无人机集群/仿射编队/领航-跟随者方法/协同路径跟随/碰撞规避Key words
fixed-wing UAV swarm/affine formation/leader-follower/cooperative path following/collision avoidance分类
航空航天引用本文复制引用
敖颖,陈浩,李慧铭,肖昆,王祥科..固定翼无人机集群仿射编队分层控制方法[J].航空学报,2026,47(9):232-249,18.基金项目
国家自然科学基金(62303483,U23B2032) National Natural Science Foundation of China(62303483,U23B2032) （62303483,U23B2032）
