通信故障下基于一跳無人機編隊拓?fù)渲貥?gòu)

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中圖分類號：V249.1；TN929.5 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.05.33

Abstract：A topology reconstruction method based on one-hop neighbors is proposed to address challenges in unmanned aerial vehicle formation with leader-folower strategy that struggle to maintain formation shape during flight due to communication faults.Before formation flight，the proposed method comprehensively considers the impact of transmission iteration of position errors and the distance factor on communication costs. The communication topology is initialized based on the minimum spanning tree problem，ensuring optimal communication costs while reducing formation errors.In the event of communication topology interruption caused by faults，connectivity is restored through topology reconstruction between local nodes，guaranteing unmanned aerial vehicles’safety and formation maintenance.Finall，simulation experiments demonstrate the effectiveness of the proposed method.Compared to existing research，the proposed method substitutes global information with local formation details to decrease the number of unmannedaerial vehicles involved in reconstruction，which makes it more adaptable to unmanned aerial vehicle formations of different scales and effectively reduces the computational time and resource consumption in large-scale formation topology reconstruction.

Keywords：unmanned aerial vehicle formation；communication fault；topology reconstruction；formation maintenance

0 引言

無人機被定義為一種由空氣動力驅(qū)動、可自主飛行和重復(fù)使用并且可以攜帶有效載荷的無人駕駛飛行器。（剩余21230字）