Unmanned aerial vehicle swarm formation cooperative control method

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle bee colony formation cooperative control method, which can solve the problems of marshalling management, communication reliability and autonomous decision which are also faced by bee colony tactics implementation in the prior art to a certain extent. The unmanned aerial vehicle swarm formation cooperative control method comprises the steps that a communication scheme comprises a ground station and a plurality of unmanned aerial vehicle sets, unmanned aerial vehicles placed in the unmanned aerial vehicle sets are of mesh network structures, no signal correlation exists between the sets, the unmanned aerial vehicles are managed through the ground station in a unified mode, and the ground station and the unmanned aerial vehicle sets are managed in an AP mode; bee colony flight formation design: planning the formation of the unmanned aerial vehicle group by adopting three-dimensional relati