Unmanned aerial vehicle cluster formation control method and apparatus and storage medium

Abstract

The present invention discloses an unmanned aerial vehicle cluster formation control method and apparatus and a storage medium, The method comprises: for an unmanned aerial vehicle cluster formed by Nunmanned aerial vehicles, using an unmanned aerial vehicle n (n=1) as a navigator, and using another unmanned aerial vehicle n (n=2, 3, ..., N) as a follower; maintaining a speed of the navigator unmanned aerial vehicle as a cruising speed v0, adjusting a speed of the follower unmanned aerial vehicle n (n=2, 3, ..., N) to vn, calculating a reference steering angle chi r and a reference climbing angle gamma r of the unmanned aerial vehicle n (n=1, 2, ..., N) at a reference point on an expected closed curve path, constructing a tangent vector field vd according to chi r and gamma r, for the unmanned aerial vehicle n (n=1, 2, ..., N), calculating an expected to-ground steering angle chi d, an expected climbing angle gamma d, an expected to-ground turning rate and an expected climbing rate, constructing a saturation controller u chi of a to-ground turning rate and a saturation controller u gamma of a climbing rate according to chi d and gamma d, and controlling the unmanned aerial vehiclecluster to fly by using u chi and u gamma. The method resolves a problem that an existing unmanned aerial vehicle cluster formation control method is hard to control an unmanned aerial vehicle cluster to fly according to a common closed curve path.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle swarm formation control, in particular to a method, device and storage medium for unmanned aerial vehicle swarm formation control. Background technique [0002] In the practical application of UAV clusters, UAV clusters are often required to form elliptical, smooth star-shaped and other general closed path formations to do circular reciprocating formation flight around the target to complete the continuous encirclement, continuous detection, escort, etc. of the target. Task; [0003] UAV swarm formation control methods in the prior art include pilot following method, virtual structure method, consistency method, etc., but they are mostly suitable for circular closed paths. For the control of general closed paths, the existing unmanned The machine cluster formation control method has the disadvantages of difficult implementation, low precision and high control cost. Contents of the inventi...

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Problems solved by technology

[0004] Embodiments of the present invention provide a UAV cluster formation control method, device, and storage medium to solve the problem that the existing UAV cluster formation control method is difficult to control the UAV cluster to fly along a generally closed curved path

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