Induction Radius-Based Hierarchical Flocking Algorithm for UAVs Clustering

In this paper, a modified Reynold flocking algorithm is proposed based on the similarity between formation flying of UAVs and the behavior of biological groups. As the number of UAVs increasing, the UAVs far away from the leader cannot get good flocking effects due to time lag and communication failure. Therefore, in order to get better performance, a new hierarchical control approach is firstly developed according to the induction radius of leaders. The UAVs within the leader's induction radius follow the leader, while the UAVs outside the radius follow the second-level UAVs. Then an artificial potential field function is further constructed to keep the UAV separated and aggregated, so that the UAVs can realize the obstacle avoidance. Finally, it is verified by simulation that the UAVs can realize the expected formation under the proposed hierarchical flocking algorithm.