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Ultra-large-scale UAV cluster control system and method for imitating pigeon intelligent behaviors

A super-large-scale, cluster control technology, applied in the direction of finding the target control, etc., can solve the problems of increased complexity of manual control, increased difficulty of information interaction, and large number of wingmen

Inactive Publication Date: 2019-08-06
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing bird flock control mechanism, the number of head machines is large, the complexity of manual control increases, and the number of wingmen controlled by each head machine is large, making information interaction more difficult

Method used

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  • Ultra-large-scale UAV cluster control system and method for imitating pigeon intelligent behaviors
  • Ultra-large-scale UAV cluster control system and method for imitating pigeon intelligent behaviors
  • Ultra-large-scale UAV cluster control system and method for imitating pigeon intelligent behaviors

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Embodiment Construction

[0093] The effectiveness of the method proposed by the present invention is verified below through a specific example of a UAV cluster. The experimental computer configuration is i5-5200U processor, 2.20GHz main frequency, 4G memory, and the software environment is Matlab of R2016a version.

[0094] The framework of a super-large-scale UAV swarm control system imitating the intelligent behavior of homing pigeons is as follows: figure 1 shown. The drone is a quadrotor; the control system at least includes a flight control board, a data communication and processing module, and a receiver arranged on each drone; the quadrotor flight control includes attitude control, Speed ​​control, position control, state estimator, multi-sensor data fusion and fault protection are mainly implemented by the processor on the flight control board. Ardupilot, an open-source flight control system, is set on the flight control board. It supports multiple flight modes (stabilized, loitering, guid...

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Abstract

The invention relates to an ultra-large-scale UAV cluster control system and an ultra-large-scale UAV cluster control method for imitating pigeon intelligent behaviors. The ultra-large-scale UAV cluster control system comprises a flight control board, a data communication and processing module and a receiver which are arranged on each UAV. The ultra-large-scale UAV cluster control method comprisesthe steps that: 1, a ground station gives a formation instruction, a target position and formation parameters; 2, each UAV releases its own position information; 3, a pigeon flock hierarchical typology structure and a single pigeon dynamics model is are established, and a controlled superior set Ni of wing planes; 4, a pigeon flock hierarchical mechanism is established, and awing plane ideal control quantity at the next moment is obtained according to controlled superior position information; 5, modeling on the UAVs is carried out, and wing plane autopilot control input is solved; 6, and thestep 2 is returned to until the task is terminated. The ultra-large-scale UAV cluster control system and the ultra-large-scale UAV cluster control method perform information interactive planning and design on the plurality of UAVs, thus enhance the monitoring range, angle, working efficiency and interference resistance required by the single UAV system, and improve the adaptability of the UAVs toa complex dynamic task environment.

Description

technical field [0001] The invention is an ultra-large-scale unmanned aerial vehicle cluster control system and method imitating the intelligent behavior of homing pigeons, and belongs to the technical field of unmanned aerial vehicle control. Background technique [0002] Multi-UAV autonomous cooperative control is to take the multi-UAV cooperative system as the research object, in a highly unstructured and uncertain environment, without or with minimal human intervention, select and cooperate in a centralized or distributed manner to obtain a comparative Independently design the control algorithm of a single UAV to work more effectively. [0003] Collaborative systems mainly have the following characteristics: 1. Highly shared information; 2. Highly integrated tasks; 3. Highly optimized resources. A system with such characteristics will make drone swarms more reliable and safe, and more likely to complete complex tasks under extreme conditions. As a part of the collabora...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 曹世岳袁尚武朱俊王泽源宋雯琪李佳怡劳姗姗鲍宇翔
Owner BEIHANG UNIV
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