Multi-UAV formation formation method based on formation library

Abstract

The invention relates to a multi-unmanned-plane pattern formation method based on a pattern database. The multi-unmanned-plane pattern formation method based on a pattern database includes the following steps: 1) according to a formation pattern request in a formation task, selecting a basic pattern in a preset pattern database, and utilizing the basic pattern to construct the formation pattern, wherein the formation pattern includes a lead plane pattern node, a plurality of wing plane pattern nodes and a pattern entrance position, and the pattern entrance position is the spatial position followed by the lead plane node in real time; 2) establishing a corresponding designation relation between each pattern node in the formation pattern and unmanned planes; and 3) according to the task pattern entrance position carried in the formation task and the corresponding designation relation, determining the absolute position desired value of each unmanned plane, and performing formation arrangement according to the formation pattern. The multi-unmanned-plane pattern formation method based on a pattern database realizes arbitrary combination of patterns, and realizes quick, visual and dynamic design of pattern and dividing and recombination of the basic elements of a complicated pattern at the same time.

Description

technical field [0001] The invention relates to the field of multi-UAV formation flight control, in particular to a multi-UAV formation formation method based on a formation library. Background technique [0002] Multi-UAV cooperative formation can greatly expand the performance and application fields of UAVs, and has great application potential in the fields of cooperative investigation, disaster search and rescue, environmental monitoring, flight performances, etc.; The human-machine collaborative formation represents that the autonomy of the UAV has reached level 5 or above, and it has a high level of intelligence. Formation formation directly affects the completion of flight missions. For example, in the military field, horizontal formation is conducive to expanding the scope of reconnaissance and search, and vertical formation is conducive to reducing the radar reflection area; while in the field of flight performances, large-scale UAV groups need Complete the generati...

AI Technical Summary

Problems solved by technology

However, most of the formation formations of existing research are "customized" designs for flight missions. In order to realize a complete formation, designers need to pre-calculate the relative position coordinates of each node, and this calculation cannot is reused, once transformed to a new formation, it is necessary to recalculate the new relative position coordinates of all nodes

Therefore, there is a lack of a flexible and instrumental formation design method in the prior art to realize the rapid, visual, dynamic design of any formation and the splitting and reorganization of basic elements of complex formations

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