Distributed drone cluster self-management system and control method

Abstract

The invention relates to a drone cluster self-management system and a control method. The self-management system is connected with a navigation and flight control system of a drone, a task load of thedrone and its own cluster communication link modules through universal interfaces and can be further connected with high-precision navigation, image processing and electrical control units and othermodules based on demands, the drones rely on information interaction for task decision making and coordinated control, and inter-machine coordination functions such as cluster task decomposition, formation flight, target tracking and autonomous obstacle avoidance are realized. Compared with the prior art, the equipped drone can realize cluster flight tasks such as full autonomous formation aggregation and maintenance, regional collaborative search, moving target coordinated tracking, rapid dive approach and the like after simple cluster task binding, and the drone cluster is made to get good robustness, flexibility and scalability.

Description

technical field [0001] The present invention relates to the field of drone management, in particular, to a distributed autonomous management system and control method for clusters of drones. Background technique [0002] With the continuous improvement of the autonomy of drones, the status of drones in military and civilian fields such as swarm operations, emergency rescue, and precision agriculture is increasing. It is difficult for a single UAV to complete complex flight tasks due to the limitations of factors such as detection and load capacity. UAV cluster mode is adopted, and the inter-machines use the intercommunication link to share perception information, task information and status information. Through mutual perception, capability complementarity and action coordination, the overall task capability of the cluster can be improved. [0003] The existing drone cluster flight management is mainly centralized. In the centralized UAV cluster, there is a central plannin...

AI Technical Summary

Problems solved by technology

[0007] 1. Both belong to the centralized UAV cluster management technology, which requires the presence of high-performance computing nodes (master UAVs) in the UAV cluster. With the increase of the number of UAVs, the scale of the cluster system increases, and cluster management problems It will become extremely complex, and the computing resources of the central planning unit are difficult to meet the real-time requirements of UAV cluster applications

[0008] 2. If the main control UAV is damaged or cannot ensure that all UAVs can communicate reliably with the main control UAV, the cluster system will not work normally, and the robustness and flexibility are poor;

[0009] 3. Except for the main control drone, other drones are in remote control mode, lack of autonomy, and cannot handle complex flight tasks such as area search and target tracking

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