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Time-varying formation swarm control method applied to unmanned aerial vehicle group

A control method and unmanned aerial vehicle technology, applied in the direction of non-electric variable control, control/adjustment system, three-dimensional position/channel control, etc., can solve the problems of unmanned aerial vehicle group formation difficulties, etc., and achieve easy computer implementation, definite control effect, Good real-time effect

Inactive Publication Date: 2019-10-25
HOHAI UNIV
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Problems solved by technology

[0004] Purpose of the invention: Aiming at the problem of difficulty in controlling the formation of UAV groups in the prior art, the present invention provides a time-varying formation flocking control method applied to UAV groups

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  • Time-varying formation swarm control method applied to unmanned aerial vehicle group
  • Time-varying formation swarm control method applied to unmanned aerial vehicle group
  • Time-varying formation swarm control method applied to unmanned aerial vehicle group

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0044] figure 1 It is a schematic block diagram of the process of the time-varying formation control method applied to the UAV swarm in the present invention. Consider an unmanned aerial vehicle swarm composed of N=4 unmanned aerial vehicles (numbered successively as UAV1, UAV2, UAV3, UAV4), and the implementation process includes the following steps:

[0045] Step 1: Obtain the motion data and communication topology of the UAV formation, and form a mobile data network for the UAV group based on this, assisting in the transmission of UAV position and speed data, the calculation and distribution of formation control quantities. Its motion data includes position, velocity and acceleration vectors.

[0046]The specific calculation process is that the topology of inter-individual communication is described as a graph G={V,E,A}, where V={1,2,...,N...

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Abstract

The invention discloses a time-varying formation swarm control method applied to an unmanned aerial vehicle(UAV) group. A motion data and communication topological relationship of a UAV formation is obtained; a multi-agent kinematic model of the UAV is established; a time-varying formation swarm control algorithm is built; and an average value-virtual leader model of a UVA group is built to analyze the formation stability and the time-varying formation of the UAV group is realized based on the analyzed stability. The control method is easy to realize; and the formation control effect is good.The UAV group formation is realized; and the time-varying formation operations of scaling, rotation, and direction conversion can be performed.

Description

technical field [0001] The invention belongs to the technical field of decentralized control of multi-agent models, and in particular relates to a flocking control method applied to time-varying formations of unmanned aerial vehicles. Background technique [0002] Unmanned aerial vehicles (UAVs) originated in the military field. After decades of development, they have entered a period of rapid development. There are many types of UAVs, and their application fields are constantly expanding, with a wide range of mission types. In terms of military, unmanned aerial vehicles can conduct reconnaissance and surveillance in complex terrain conditions, and can be used to monitor, monitor, hostage rescue and anti-terrorist operations in special environments; Earthquake and other disaster monitoring and investigation, as well as civil aviation shooting, entertainment shooting, etc. [0003] With the deepening and acceleration of informatization and intelligence, and the complex and c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 周军黄蓉黄浩乾
Owner HOHAI UNIV
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