UAV Automation Control System Based on an Intelligent Sensor Network

Abstract

With the widespread use of UAVs, it is gradually difficult for single UAV to meet the needs of increasingly complex scenarios. At the same time, the problems of low autonomy and high dependence on control stations in central UAV cluster networks are gradually highlighted. In this paper, we analyze the theoretical conditions of network topology establishment and network connectivity, design a series of UAV distributed cluster automation control algorithm frameworks, and achieve certain research results, taking the distributed clusters of flight self-organizing networks as the background and using mathematical tools such as algebraic graph theory and random geometry to build a vibration sensor array model based on multiple intelligent sensor management. Based on this, a distributed connectivity maintenance algorithm based on the importance of nodes is designed to realize the “self-healing” of the flight’s self-organizing network. This study also improves the Mavlink flight control communication protocol customization and Zigbee wireless networking mode design to solve the UAV swarm communication link collision problem. Compared with the existing distributed spectrum estimation-based node importance algorithm, the proposed algorithm further analyzes the topological changes caused by the removal of associated edges by failed nodes and the reconstruction of new associated edges between neighboring nodes, so that the theoretical results are closer to the actual topological dynamics of the flight self-organizing network.