Energy-Efficient Multi-Stage Formation Scheduling Based on a Hybrid Controller

In recent years, with the development of unmanned vehicle technology, researches on its materials, energy, sensing and other aspects emerge constantly, of which formation control is an important direction. However, most of the existing documents only conduct static analysis on the formation when considering the energy consumption, and the dynamic relationship among formation schedule, performance requirements and energy consumption is not considered as a whole. In this paper, according to the performance requirements at different stages of formation, we divide the whole formation process into three stages and introduce a scheduling based on a hybrid controller. The controller dynamically schedules the whole formation process according to the requirements of each stage to achieve the balance between energy consumption and performance. The simulation results show our scheduling has good performance from both steady-state and dynamic perspectives with low energy consumption.