Large Mathematical Model of Leader-Follower Strategy for UAV Swarm Control in Information Field

A new mathematical model for the leader-follower method of formation control with a swarm of objects in information field is presented. The model is based on motion trajectory equations and the Poisson equation for the information field potential. A problem formulation for a specific class of UAVs is obtained, functions determining the motion are found, and the model’s applicability range is demonstrated. The developed model is proposed for analyzing a swarm of FPV drones consisting of 100 to 1000 devices. The dimensions of the shared operating space are estimated to ensure sufficient maneuverability and stability for a large swarm. In the paper we analyze the flight trajectories of quadcopters with 10-inch propellers and a mass of approximately 700 g, equipped with a control system based on PID controllers and a mesh communication network with a latency of no more than 50 ms. Simultaneous Localization and Mapping (SLAM) methods are used, which enable the simultaneous construction of a spatial map and determination of the position of objects in the absence of GNSS data. Numerical control parameters were determined and swarm formation stability conditions were established at a leader speed of approximately 25 km/h and a maximum maneuvering speed of 40 km/h. The minimum safe distance and dead zone radius for effective swarm control were estimated.