Quadrotor formation obstacle avoidance method based on cuckoo algorithm improved artificial potential field method

Abstract

The invention discloses a quadrotor formation obstacle avoidance method based on a cuckoo algorithm improved artificial potential field method, the method improves a repulsive force function on the basis of a conventional artificial potential field method, introduces the distance from a target point to an obstacle into the repulsive force function, enables four rotors to reach an end point when the obstacle exists near the end point, and thus the problem of endpoint inaccessibility is solved. In addition, through an obstacle expansion method, a certain safety margin is divided around the obstacle, collision of the four rotors is avoided, and it is ensured that the four rotors safely avoid the obstacle. When the robot falls into a local minimum value or is in a narrow environment, the path can be planned through the cuckoo algorithm, the cuckoo algorithm is improved, the adaptability of path planning of the artificial potential field algorithm is improved through the cuckoo algorithm with the variable step size of differential evolution, the problems existing in the cuckoo algorithm are solved, and thus the planned path is better, the nodes are fewer, and the number of iterations is fewer.

Description

technical field [0001] The invention belongs to the technical field of four-rotors, in particular to a four-rotor formation obstacle avoidance method based on a cuckoo algorithm improved artificial potential field method. Background technique [0002] With the rapid development of modern technology and the continuous innovation of key technologies such as sensors, microelectronics and communications, drones have been widely used in various industries due to their good maneuverability and simple control structure. [0003] With the increase of task complexity, the necessity of quadrotor aircraft formation becomes more and more obvious. Due to the lack of GPS signals in the indoor environment, it is difficult to develop a high-precision indoor positioning system. At present, research has introduced the motion capture system VICON in quadrotor formation flight, and developed an indoor formation control system for quadrotor UAVs. [0004] The artificial potential field method ...

AI Technical Summary

Problems solved by technology

Therefore, the artificial potential field method has the following problems: First, when the resultant force from the repulsive and gravitational forces on the UAV is 0, that is, when the repulsive and gravitational forces are of the same magnitude and opposite in direction, the UAV will stop moving and fall into a local minimum point

However, the application of the cuckoo algorithm to the artificial potential field algorithm is not ideal due to its own defects of low convergence accuracy and poor local search results.

The use of the cuckoo algorithm in the artificial potential field algorithm will amplify the shortcomings of its weak local search ability. Although the path planned in this way can better solve the defects of the artificial potential field method, it has many twists and turns, long paths, and many nodes.

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