Modeling and Simulation of Submarine Launched UAV Formation and Formation Reconfiguration with Initial Discrete

In order to meet the needs of homogeneous submarine-launched UAV clusters in complex environments, UAV formation and formation reconfiguration algorithms with discrete initial states are investigated. A fast cluster formation method is proposed, and the effectiveness of this method is verified through comparative experiments, which can effectively reduce the entanglement of UAV trajectories in the process of clustering, reduce the probability of collision, and effectively shorten the time of forming cluster formation. Based on second-order consensus and DWA localized path planning algorithms, we improve the obstacle avoidance constraint function, design the speed and distance constraint cost function, propose the space-time coupled formation and formation reconstruction method, and verify the feasibility and effectiveness of this method, which provide some technical support for the subsequent transformation to engineering applications.