Distributed unmanned aerial vehicle queue and dynamic obstacle avoidance control method

Abstract

The invention relates to a cooperative queue control and dynamic obstacle avoidance control method for a four-rotor unmanned aerial vehicle, and aims to realize cooperative obstacle avoidance on a cruise task and a cruise path of an unmanned aerial vehicle cluster. Therefore, according to the distributed unmanned aerial vehicle queue and dynamic obstacle avoidance control method, differential homeomorphic mapping transformation is carried out on a kinetic model of a four-rotor unmanned aerial vehicle by adopting a TFL method, so that the kinetic model is decomposed into a tangential subsystem in the direction of an expected path and a transverse subsystem intersecting with the expected path; then, nonsingular fast terminal sliding mode controllers are designed in the transverse subsystems respectively to enable movement of the unmanned aerial vehicles to be converged to an expected path, a coordination and obstacle avoidance control algorithm combining consistency and a potential field method is designed in the tangential subsystem, and then a multi-unmanned aerial vehicle coordination cruise task and dynamic obstacle avoidance in the cruise process are achieved. The method is mainly applied to cooperative queue control and dynamic obstacle avoidance occasions of unmanned aerial vehicles.

Description

technical field [0001] The invention relates to a cooperative queue control and dynamic obstacle avoidance control method of a quadrotor UAV. Aiming at the requirement of cooperative cruising mission in multi-UAV cluster flight, and considering the obstacle avoidance problem in the cruising process, a set of distributed multi-UAV queue control and dynamic obstacle avoidance control algorithm based on consensus protocol is designed. Background technique [0002] Multi-UAV cooperative flight has outstanding advantages such as large detection range, high load capacity, and strong environmental adaptability. It can complete complex flight tasks and improve overall work efficiency, and has become a research hotspot in the field of UAVs in recent years. Autonomous cruising is one of the basic ways for multi-UAVs to perform coordinated flight missions, and it plays an important role in application scenarios such as military exercises, traffic control, regional reconnaissance, and p...

AI Technical Summary

Problems solved by technology

This type of method can guarantee flight safety when there are obstacles to a certain extent, but it has high requirements for UAV tracking performance, and when the environment and dynamic constraints are complex, there is a large amount of calculation for solving the optimization equation and real-time performance is difficult to guarantee. It is also difficult to prove its stability

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