Control method for unmanned aerial vehicle group to cooperatively exit from circular trajectory

Abstract

The invention relates to the technical field of unmanned aerial vehicle group control, in particular to a control method for an unmanned aerial vehicle group to cooperatively exit from a circular trajectory. The method comprises the following steps: (1) establishing a common exit point and a common transitional route of an unmanned aerial vehicle group; (2) judging the timing when each unmanned aerial vehicle exits from the circular trajectory; and (3) setting the flight altitude of each unmanned aerial vehicle while exiting from the circular trajectory. According to the control method for theunmanned aerial vehicle group to cooperatively exit from the circular trajectory disclosed by the invention, the common transitional route is set according to the flight circular trajectory area of the unmanned aerial vehicle group to make each unmanned aerial vehicle in the unmanned aerial vehicle group orderly exit from the circular trajectory through the common transitional route, and changesown flight altitude in a flight exit process to form an altitude difference, thereby effectively avoiding collision between the unmanned aerial vehicles, and greatly simplifying the design of a system. The control method is simple and easy to operate, and has relatively high engineering realizability and relatively high practical value.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle group control, in particular to a control method for a group of unmanned aerial vehicles to withdraw from a circular trajectory cooperatively. Background technique [0002] Multi-UAV cooperative flight is the first prerequisite for multi-UAV groups to perform tasks. Multi-UAV cooperative flight circular trajectory is the most commonly used cooperative flight method in mission scenarios. At present, the most commonly used method for cooperative flight to exit the circular trajectory is that each UAV plans the flight route according to the target point of the next task after receiving the instruction of the end of the mission, and flies to the respective task target point respectively. At the same time, it is necessary to consider the problem of avoiding collisions between the aircraft, and it is necessary to set the appropriate timing and conditions for each aircraft to transfer fr...

AI Technical Summary

Problems solved by technology

The above method has many constraints and poor system stability, which is difficult to achieve in practical applications.

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