Method and system for cooperatively tracking target by unmanned aerial vehicle cluster

Abstract

The invention provides a method and a system for cooperatively tracking a target by an unmanned aerial vehicle cluster. The method comprises the following steps of: establishing a wireless communication network for the cooperatively operated unmanned aerial vehicle cluster, and detecting a tracked target by utilizing an onboard sensor; when an optional unmanned aerial vehicle in the unmanned aerial vehicle cluster detects the target, processing detection data of the optional unmanned aerial vehicle, and broadcasting processing information to the other unmanned aerial vehicles; acquiring relative distances and relative angles among each unmanned aerial vehicle, the tracked target and the rest unmanned aerial vehicles in the unmanned aerial vehicle cluster according to the processing information by each unmanned aerial vehicle in the other unmanned aerial vehicles; constructing an environmental space potential field by each unmanned aerial vehicle in the other unmanned aerial vehicles according to the relative distances and the relative angles among each unmanned aerial vehicle, the tracked target and the rest unmanned aerial vehicles in the unmanned aerial vehicle cluster by each unmanned aerial vehicle in the other unmanned aerial vehicles, and calculating a resultant force of the potential field; and when the resultant force of the potential field is smaller than a safety threshold, controlling the corresponding unmanned aerial vehicle to track the tracked target. According to the method provided by the embodiment of the invention, sensor information is shared by utilizing the unmanned aerial vehicle cluster, and the high efficiency and the instantaneity of the cooperative target tracking are guaranteed.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for a group of unmanned aerial vehicles to cooperatively track a target. Background technique [0002] Due to its low cost, high mobility, flexible deployment and "zero casualties", UAVs are widely used in military and civilian fields. When a single UAV performs tasks such as military surveillance and reconnaissance and large-scale disaster scene search and rescue, it faces unfavorable factors such as wide mission area, complex and changeable environment, limited sensor perception ability and single node failure, which lead to mission failure. The transformation of the traditional research and application mode "centered on the UAV platform" to the collaborative mode of multiple UAVs "centered on the network". By integrating the environmental perception capabilities of multiple UAVs and sharing their computing and processing capabilities, the ...

AI Technical Summary

Problems solved by technology

Most of the existing technologies focus on using the ground station platform to aggregate and process the information collected by multiple UAV sensors. This method is not suitable for autonomous coordination of multiple UAVs under complex conditions.

Images