Multi-agent cluster coordination method and multi-UAV cluster coordination system
A multi-agent, intelligent body technology, applied in control/regulation systems, non-electric variable control, instruments, etc., can solve problems such as poor flexibility, low redundancy, and low mission efficiency of a single UAV system, and achieve rapid Effects of Convergence Ability
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Embodiment 1
[0029] exist A multi-agent system in space contains N individual agents. Among them, the kinematic model of each agent follows the following second-order difference equation:
[0030]
[0031] Among them, p i (k), v i (k), u i (k) respectively represent the position, velocity and acceleration vector of the agent i at the kth sampling moment; T s is the sampling period of the agent's control system; the controller input for each agent is the constant acceleration u between adjacent sampling instants i (k).
[0032] Each agent is given the same interaction radius r c , agent i can receive data from other agents within its interaction radius by computing the relative position r ij =p j -p i (j≠i), and press Determine the set of neighbors for agent i In each sampling period of agent i, due to the change of the spatial position, the set of neighbors Subject to variation, omitted here for brevity without loss of generality The time label k of .
[0033] Such as...
Embodiment 2
[0080] use Figure 5 to Figure 7 The shown device realizes multi-UAV cluster cooperative flight.
[0081] Such as Figure 5 As shown, each quadrotor UAV (30) in the multi-UAV system described in this embodiment includes a flight controller (300), a power system (302,304), a power supply system (306,3060,3062, 3064), sensor systems (308, 3080, 3082, 3084, 3086, 3088), communication systems (310, 3100, 3102, 3104), and other peripherals (312). Wherein, the flight controller (300) is the central control unit of each quadrotor UAV (30). The flight controller can access the data of the sensor through the sensor interface (308), which is used to solve various variables required to control the drone. Among them, the accelerometer (3080), gyroscope (3082) and electronic compass (3084) are used to obtain the attitude of the drone, including pitch, roll, yaw, and angular velocity and angular acceleration in the three axis directions; The barometer (3086) is used to obtain the altitu...
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