中文摘要：

无人机在军事和民用应用上越来越广泛,为使无人机能够更好地发挥作用,需要采用多无人机编队飞行控制来实现协同侦察、作战、防御及喷洒农药等任务.多无人机协同编队控制技术主要包括信息感知技术、数据融合技术、任务分配技术、航迹规划技术、编队控制技术、通信组网技术和虚拟/实物验证实验平台技术等.首先对国内外多无人机编队相关技术的现状和进展进行综述,然后重点对多无人机编队控制方法进行分析,并对队形设计、队形调整和队形重构等问题进行归纳总结,最后对多无人机协同编队所面临的机遇和挑战进行了展望.结果表明：目前多无人机编队飞行理论方面取得了丰硕成果,但是实物飞行试验仅能实现简单通信环境下的协同编队飞行,任务分配和航迹规划实时性不高,控制方法应对突发情况鲁棒性低,多机多传感器协同感知能力不足,欠缺对实体的仿真实现,未来的研究方向应是突破上述关键技术的不足,开展复杂感知约束和复杂通信环境下的多无人机协同编队飞行研究,提出更加有效的控制方法,并进行多无人机实物编队飞行试验,使无人机能够更好地完成既定任务.

英文摘要：

It is well known that unmanned aerial vehicle（ UAV） is more and more widely applied in military and civil areas. In order to play the better role of UAV,it is needed to utilize multi UAVs cooperative formation to accomplish cooperative reconnaissance,combat,defense and spraying pesticides and other tasks. The multi UAVs cooperative formation control technology mainly contains the following key techniques： data fusion technology,sensing technology, task allocation technology, path planning technology, formation control technology,communication network technology and virtual/physical verification platform technology. Firstly,summarize the research and development of key technologies worldwide. Then,the classification for multi UAVs formation control methods is mainly investigated,and the problems about formation design and adjustment,formation reconfiguration are summarized. Finally, the challenges and future development for multi UAV cooperative formation are prospected. Research shows： at present,the theory of multi UAV formation flight has acquired fruitful results,while the real cooperative formation flight test can only be implemented in the simple communication environment.The real time performance for task allocation and path planning is not high. The robustness of control methods to cope with the unexpected situation is low. The cooperative sensing ability for multi UAV with multi sensor is insufficient. The simulation of the entity is lacked. Breaking through the above key technologies,carrying out the cooperative formation flight of multi UAV in complex sensing constraints and complex communication environment,putting forward more effective control method and carrying out the UAV physical formation flying test so that the UAV can finish the task better may be the future research directions.