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UAV swarm formation control method, device and storage medium

A control method and unmanned aerial vehicle technology, applied in the direction of control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., can solve problems such as difficult to control unmanned aerial vehicle clusters

Active Publication Date: 2022-06-28
CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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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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  • UAV swarm formation control method, device and storage medium
  • UAV swarm formation control method, device and storage medium
  • UAV swarm formation control method, device and storage medium

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Embodiment Construction

[0063] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

[0064] Embodiments of the present invention provide a method for controlling a swarm formation of UAVs, such as figure 1 shown, including the following steps:

[0065] Step S20, for the UAV swarm composed of N UAVs, the UAV n (n=1) is used as the leader, and the remaining UAVs n (n=2, 3, . . . , N) are used as the followers ;

[0066] Keep the speed of the pilot drone at cruising speed v 0 , adjust the speed of the follo...

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Abstract

The invention discloses a UAV cluster formation control method, device and storage medium. The method includes: for a UAV cluster composed of N UAVs, UAV n (n=1) is used as the leader , and the other UAVs n (n=2,3,...,N) act as followers; keep the speed of the leader UAV as the cruising speed v 0 , adjust the speed of follower UAV n (n=2,3,…,N) to v n , calculate the reference steering angle χ of the UAV n (n=1,2,…,N) at the reference point on the desired closed curve path r and reference climb angle γ r , according to χ r and gamma r , to construct the tangent vector field v d , for UAV n(n=1,2,…,N), calculate its expected ground steering angle χ d , expected climb angle γ d , desired rate of ground turn and desired rate of climb according to χ d , γ d , and construct the saturation controller u of the ground turning rate χ and the saturation controller u for the rate of climb γ , through u χ and u γ Control drone swarms to fly along in formation. The invention solves the problem that the existing unmanned aerial vehicle cluster formation control method is difficult to control the unmanned aerial vehicle cluster to fly according to the general closed curve path.

Description

technical field [0001] The invention relates to the field of UAV swarm formation control, in particular to a UAV swarm formation control method, device and storage medium. Background technique [0002] In the practical application of UAV swarms, UAV swarms are often required to form elliptical, smooth star and other general closed-path formations to fly around the target in a cyclic reciprocating formation to complete continuous encirclement, continuous detection, and escort of the target. Task; [0003] The UAV swarm formation control methods in the prior art include the pilot-following method, the virtual structure method, the consistency method, etc., but they are mostly suitable for circular closed paths. For the control of general closed paths, the existing unmanned The control method of aircraft swarm formation has the disadvantages of being difficult to implement, low precision and high control cost. SUMMARY OF THE INVENTION [0004] Embodiments of the present inv...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 赵彦杰梁月乾
Owner CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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