A Formation Control Algorithm for Air-Ground Cooperative UAV

The development of unmanned aerial vehicle (UAV) formation control technology and air-ground cooperation technology make it possible to provide services for mobile users in harsh environments by UAV. According to the formation of system and control methods at the moment, this paper designs an improved algorithm based on behavior strategy: clearing cooperative UAV formation control algorithm by introducing space synergy of ideas and providing relay communication service for the ground users with four UAV formations and the corresponding position standards to complete the field synergy theory research of UAV formation control algorithm. Finally, the air-ground collaborative UAV modulation control algorithm is simulated using the Unity software platform to verify the feasibility of the algorithm in simulating the actual environment.