Method for controlling unmanned aerial vehicle formation by imitating bird flock behaviors and using virtual structures

Abstract

The invention provides a method for controlling an unmanned aerial vehicle formation by imitating bird flock behaviors and using virtual structures. According to the method, a bird flock formation structure is mapped into an unmanned aerial vehicle formation structure to build an optimal formation position of the unmanned aerial vehicle formation; control commands are calculated through a virtual structure model; then unmanned aerial vehicles are controlled to arrive at a designated position by an unmanned aerial vehicle control unit which receives the formation control commands. The method for controlling an unmanned aerial vehicle formation by imitating bird flock behaviors and using virtual structures comprises following steps: 1. a mathematical model of the unmanned aerial vehicle formation is established; 2. a formation control position is determined through bird flock behaviors; 3. a virtual structure of the unmanned aerial vehicle formation is established; 4. formation control input is obtained through a mixed method of bird flock behaviors and virtual structures; 5. formation control is carried out by use of the mixed method of bird flock behaviors and virtual structures. The method makes full use of the simplicity and universality of the bird flock behavior mechanism and virtual structure method in the formation control law design; continuous and stable control of unmanned aerial vehicles under formation condition is guaranteed.

Description

【Technical field】 [0001] The invention relates to an unmanned aerial vehicle formation control method imitating bird flock behavior and virtual structure, and belongs to the field of control technology. 【Background technique】 [0002] A drone is a powered, reusable, unmanned aerial vehicle. Compared with manned aircraft, due to a series of characteristics such as high maneuverability, low cost, and "zero casualties", UAVs can show greater advantages than manned aircraft when performing combat missions in high-risk battlefield environments. At present, UAVs have been widely used in various combat tasks such as intelligence reconnaissance, target search and tracking, and ground target attacks, and have played an important role in them. [0003] UAV formation flight is to arrange multiple UAVs in a certain formation and keep the formation unchanged throughout the flight. All the aircraft in the fleet have to share their respective tasks according to the specific situation fac...

AI Technical Summary

Problems solved by technology

For general control methods, it is necessary to adjust a large number of control parameters in advance and switch parameters frequently during the control process, and the controller design task is very heavy

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