Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control

The invention provides a multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control, which enables N unmanned aerial vehicles to perform circular motion aroundthe same circle center at different radii at any initial speed from respective initial positions of the N unmanned aerial vehicles; when the N unmanned aerial vehicles reach a stable state, the N unmanned aerial vehicles enters a synchronous monitoring mode or a balanced monitoring mode. According to the multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control, a plurality of unmanned aerial vehicles can perform cooperative operation, so that the patrol effect is enhanced, and the system reliability is improved. 本公开提供种基于集群控制的多无人机协同目标监视控制方法，使N架无人机从其各自的初始位置，以任意初始速度出发，围绕同个圆心以不同的半径做圆周运动，且达到稳定状态时，N架无人机进入同步监视模式或平衡监视模式。本公开提供的基于集群控制的多无人机协同目标监视控制方法，能够使多架无人机进行协同作业，增强巡视效果并提升系统可靠性。