A state-prediction-based control strategy for UAVs in Cyber-Physical Systems

Multiple Unmanned Aerial Vehicles(UAVs) are crucial for Cyber-Physical Systems(CPS). No collisions should be ensured between each other when executing a complex task. This paper proposes a state-prediction-based trajectory control strategy for UAVs. We first introduce the concept of “space-time protection volume” under the constraint of the number of needed vehicles and the scope of the task space. The prediction model of hierarchical flight and collision probability is established. Based on the safety threshold, the flight strategy is given under the different condition through calculating the collision probability. Besides, in the communication condition of formation flight of UAVs, we further put forward the compensation method based on Kalman state estimation according to the communication noise caused by the bias of the information state. The simulation results show that our proposed scheme enhances the anti-noise ability of UAVs and effectively reduces the collision probability.