Obstacle avoidance method and system of UAV formation under time-varying network topology
A time-varying network and UAV technology, applied in the field of multi-UAV formation, can solve the problems of difficult implementation, high real-time requirements of multi-aircraft formation system, and high number of iterations, to ensure integrity, reduce communication overhead and effect of time spent
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[0040] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0041] The present invention applies multi-UAV formations under communication constraints, based on distributed and centralized information transmission methods, and uses a sliced topology model to propose an obstacle avoidance algorithm for UAV formations under time-varying topology. In the stage, different information transmission methods are adopted according to the transmission information. At the same time, the UAV formation algorithm is designed as a whole to ensure the overall link stability of the formation, and a multi-machine formation obstacle avoidance with low communication overhead and low delay cost is designed. algorithm.
[0042] Specifically, such as Figure 1a As shown, the present invention proposes a UAV formation obstacle avoidance method under a time-varying network topology, including:
[00...
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