通信故障下基于一跳无人机编队拓扑重构

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中图分类号：V249.1；TN929.5 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.05.33

Abstract：A topology reconstruction method based on one-hop neighbors is proposed to address challenges in unmanned aerial vehicle formation with leader-folower strategy that struggle to maintain formation shape during flight due to communication faults.Before formation flight，the proposed method comprehensively considers the impact of transmission iteration of position errors and the distance factor on communication costs. The communication topology is initialized based on the minimum spanning tree problem，ensuring optimal communication costs while reducing formation errors.In the event of communication topology interruption caused by faults，connectivity is restored through topology reconstruction between local nodes，guaranteing unmanned aerial vehicles’safety and formation maintenance.Finall，simulation experiments demonstrate the effectiveness of the proposed method.Compared to existing research，the proposed method substitutes global information with local formation details to decrease the number of unmannedaerial vehicles involved in reconstruction，which makes it more adaptable to unmanned aerial vehicle formations of different scales and effectively reduces the computational time and resource consumption in large-scale formation topology reconstruction.

Keywords：unmanned aerial vehicle formation；communication fault；topology reconstruction；formation maintenance

0 引言

无人机被定义为一种由空气动力驱动、可自主飞行和重复使用并且可以携带有效载荷的无人驾驶飞行器。（剩余21230字）