Unmanned aerial vehicle formation transformation method based on virtual structure

A virtual structure and unmanned aerial vehicle technology, applied in the direction of non-electric variable control, instruments, control/regulation systems, etc., can solve the problems of formation fluctuations, inability to realize formation transformation, failure, etc., and achieve small communication volume and good formation Control effects, achieve flexible and transformable effects

Active Publication Date: 2018-12-11
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

But its disadvantage is that its application range is largely limited by the formation formed by the virtual structure method, that is, flexible formation transformation can

Method used

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  • Unmanned aerial vehicle formation transformation method based on virtual structure
  • Unmanned aerial vehicle formation transformation method based on virtual structure
  • Unmanned aerial vehicle formation transformation method based on virtual structure

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Embodiment Construction

[0032] In order to facilitate those skilled in the art to understand the technical content of the present invention, the content of the present invention will be further explained below in conjunction with the accompanying drawings.

[0033] The present invention aims at the defects existing in the existing formation control technology, and proposes a UAV formation transformation method based on a virtual structure. The scheme flow chart of the present invention is as follows figure 1 As shown, it is realized by the following three steps:

[0034] S1, establish the UAV formation based on the virtual structure;

[0035] S11: Establish the virtual structure of the UAV formation, and generate the Voronoi diagram with the virtual particle set as the generator

[0036] The virtual structure of the UAV formation is composed of a series of inertial coordinates in the earth inertial coordinate system, where each virtual particle is expressed as a binary group , where the vector p is ...

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Abstract

The invention discloses an unmanned aerial vehicle (UAV) formation transformation method based on a virtual structure, applied to the UAV formation and control field for solving the problems that in an existing virtual structure method, each UAV follows a virtual particle, and the virtual structure is limited, so that flexible formation transformation cannot be realized. The UAV formation transformation method based on a virtual structure firstly establishes a UAV formation based on the virtual structure, and then controls the flight state of the entire formation by controlling the flight state of the virtual structure, and the UAV moves around the virtual particle to which the UAV belongs, so as to realize flexible transformation of the UAV formation based on the virtual structure.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle formation and control, and in particular relates to a formation and formation transformation control technology considering large-scale small unmanned aerial vehicles. Background technique [0002] UAVs originated in the military field. After decades of development, they have now entered a period of rapid development, with more and more types, continuously expanding application fields, and more and more mission types. In terms of military affairs, micro-UAVs can conduct reconnaissance and surveillance in complex terrain conditions in field operations, and can also be used in special environments to reconnaissance the interior of buildings, monitor, monitor, rescue hostages, and counter-terrorism operations. In terms of civilian use, it is mainly used for monitoring and investigation of disasters such as floods, forest fires, and earthquakes, as well as civil aerial photography and entertainm...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李龙江周红梅毛玉明
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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