C code for UAV formation based on Cucker-Smale model.
Swarming is a collective behaviour exhibited by entities, particularly animals,of similar size which aggregate together, perhaps milling about the same spot or perhaps moving en masse or migrating in some direction.
The simplest mathematical models of animal swarms generally represent individual animals as following three rules:
- Move in the same direction as their neighbors
- Remain close to their neighbors
- Avoid collisions with their neighbors
("Swarm behaviour",from Wikipedia)
Use the coordinate(data is stored in coordinate.txt) of each UAV to simulate the process
Here's a gif made by Matlab(It's actually 3D, but 2D animation looks more clearly)
- UAV Formation Flight
- Demo-Preview
- Table of contents
- Installation
- Usage
- Development
- Contribute
- License
- Footer
(Back to top)
To use this project, first clone the repo on your device using the command below:
git init
git clone https://github.com/Ashcaesar/UAV_formation.git
To be filled.
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Advanced Cucker-Smale model.
The whole program is divided into three steps:
-
Assemble
UAVs gather and go to the specified starting point at a similar velocity -
Formation
Divide UAVs into several groups based on location coordinates -
Flight
UAVs complete the flight mission following a certain formation
Each UAV is regarded as a mass point, the simuulation environment is 3D.
For more information, check out this wiki for inspiration.
If you have any suggestions or problems, just email me 3170102203@zju.edu.cn!
Contributions of any kind welcome!
GNU General Public License version 3
