Unmanned aerial vehicle cluster control method of jackdaw-imitating pairing interaction mechanism

Abstract

The invention discloses an unmanned aerial vehicle cluster control method of a jackdaw-imitating pairing interaction mechanism. The unmanned aerial vehicle cluster control method comprises the steps of: 1, carrying out initialization; 2, calculating a three-axis position and speed of a jackdaw; 3, judging whether the jackdaw is an information individual or not; 4, selecting interactive neighbors of the jackdaw; 5, calculating a jackdaw cluster control quantity; 6, calculating an unmanned aerial vehicle autopilot control instruction; 7, inputting the autopilot control instruction into an unmanned aerial vehicle model; and 8, judging whether immitation is finished or not. According to the unmanned aerial vehicle cluster control method, through unmanned aerial vehicle pairing of a certain proportion, the number of neighbors without man-machine interaction in the cluster is reduced on the premise that the consistency and aggregation of the cluster are guaranteed, and therefore the communication load is reduced. By adopting the unmanned aerial vehicle cluster control method, the unmanned aerial vehicle cluster can respond to stimulation more easily for one-way stimulation, and the stress precision is higher.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle cluster control method imitating the pairing interaction mechanism of jackdaws, and belongs to the field of autonomous control of unmanned aerial vehicles. Background technique [0002] Due to the advantages of low risk, low cost, and strong environmental adaptability, UAVs are increasingly used in civilian and military missions. Due to its limited resources, a single UAV cannot perform large-scale tasks. In order to meet new mission requirements, multi-UAV clusters have gradually become a research hotspot in the field of UAVs. Through mutual cooperation, single-machine resources can be fully utilized and completed. more complex tasks. The mutual cooperation and coordination between UAVs requires inter-machine interaction, and the performance of the communication network meets the integrity, accuracy, timeliness and synchronization of interactive transmission between systems, in order to achieve the ...

AI Technical Summary

Problems solved by technology

Many UAV clusters use hierarchical leader interaction, such as the leader-follower mode. This mode is simple and stable, and the communication load is not high, but it is not flexible enough and has poor adaptability to cluster failures; when interacting with fixed neighbor distances, the neighbors of the drone The number is related to the cluster density and the position of the UAV. When the density is high, it may cause a huge communication load and communication congestion problems; the number of topological interactive neighbors is stable and is not affected by the distance between individuals. In terms of communication load, the interactive neighbors of topological interactive individuals The number is much smaller than the number of fixed neighbor distance interactions

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