中文摘要：

对无人机集群进行有效控制是实现集群作战的基础，针对无人机集群在飞行过程中的运动控制问题，根据无人机飞行中的避撞、聚集和速度匹配规则，在充分考虑各无人机个体意愿的基础上提出一种基于规则的运动控制方法，将集群中知晓目标信息的无人机设置为领航者，其余无人机设置为跟随者，根据运动规则建立集群动力学模型和个体运动控制器模型，利用模型对集群进行动力学分析以确定集群运动航线并控制集群飞行。仿真结果验证了上述方法的有效性，且可适用于较大规模的无人机集群运动控制。

英文摘要：

Effective control of the swarms is the basis of swarms operations. According to the problem of UAVs＇ motion control in the process of flight, the motion control method is proposed based on the repulsive interaction, matching interaction, attractive interaction and desideration of UAVs. The UAV which knows the information of the goal is set as the leader and the rest of the swarms are set as followers. Then the swarms dynamical model and controller model are established in accordance to the motion rules, and the models are used to determine the waypoints of UAVs. So the UAVs are controlled to fly along the routes. Finally, simulation results show that the method is effective and suitable for UAVs＇ motion control of large-scale.