UAV cluster control method

Abstract

The invention discloses a UAV cluster control method, relating to the technical field of UAVs. The method includes the following steps of constructing a UAV cluster internal member model based on the spatial position, velocity and acceleration of UAV cluster internal members; constructing the acceleration control functions of the UAV cluster internal members; and controlling the cluster movement, oriented target movement, and the obstacle avoidance movement of the UAV cluster internal members through the constructed acceleration control functions. The method is high in flexibility in cluster movement control, good in consistency, and substantial in control and obstacle avoidance effect.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster control method. Background technique [0002] Multiple UAVs (Unmanned Aerial Vehicles, UAVs) cooperate with each other to complete tasks such as military target strike, target tracking and reconnaissance, which can greatly reduce the time of task execution and improve the efficiency and success rate of operations. With the increasingly complex combat environment, not only the number and density of space UAVs are increasing, but also the strong electromagnetic environment can easily blind the communication of UAVs, and potential sudden obstacles will bring serious problems to the flight control and safety of UAV clusters. A series of challenges has become an urgent problem to be solved. [0003] The UAV swarm system belongs to the distributed architecture of local perception or communication. At present, the main control methods...

AI Technical Summary

Problems solved by technology

The control method based on local rules is the most basic, which can realize the emergence control of swarm intelligence, but it is difficult to make the swarm emerge to the desired control direction by itself; soft control is based on the local rules by adding an external controllable individual to the swarm Guide other individuals in the group to move in the direction that people expect; the pilot control method uses the information-rich individuals in the cluster to guide and realize cluster control. How to identify who is the leader in the actual situation without direct communication; the artificial potential field guides the agent to move in the direction of reducing the potential energy by constructing a global potential field function. This method is simple and practical, and has advantages in obstacle avoidance, but there are local extreme value problem

In summary, the UAV swarm control methods in the prior art generally have problems such as ideal research conditions, advantages and disadvantages of each method, insufficient flexibility, poor control and obstacle avoidance effects, etc.

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