Before studying the UAV formation flight algorithm, it is necessary to understand the communication method between UAVs.light up drone ， Communication methods The control methods of the fleet can be divided into the following types:
Centralized control mode: The individuals in the formation system communicate with each other, and transmit information such as speed, coordinate position, and motion status. The system with this control method flies better because every UAV in the formation system knows all the information in the formation system and can make more scientific flight decisions and routes.
Distributed control method: The individuals in the UAV formation system only need to communicate with the UAVs on site, and there are few communication packets and communication links. Compared with the centralized control method, the flight effect of the formation system using this control method will be worse.
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