Unmanned aerial vehicle formation transformation method based on virtual structure

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...

AI Technical Summary

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 cannot be realized.

However, the leader-follower method has the disadvantage that once the leader fails, the entire formation will be subject to large fluctuations or even fail.

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