Unmanned aerial vehicle cluster rapid steering method based on differential acceleration

Abstract

The invention relates to an unmanned aerial vehicle cluster steering method based on differential acceleration, and belongs to the field of unmanned aerial vehicle cluster formation. The method comprises the following steps: S1, obtaining an initial unmanned aerial vehicle position, and establishing an unmanned aerial vehicle cluster kinetic equation; s2, updating and acquiring a position vector of each unmanned aerial vehicle, and determining all unmanned aerial vehicle neighbor sets in an unmanned aerial vehicle communication range; s3, calculating resultant force and differential acceleration of repulsive force and gravitational force according to a virtual force steering principle; s4, defining an acceleration adjustment coefficient, and dynamically adjusting the acceleration in real time according to the continuous change of the position in the steering process of the unmanned aerial vehicle cluster; and S5, continuously calculating the resultant force through the change of the acceleration so as to change the motion state of the unmanned aerial vehicle, and enabling the unmanned aerial vehicles at different positions to have proper acceleration. The motion process is similar to that of a rigid body when the unmanned aerial vehicle cluster steers, and the distance between two adjacent unmanned aerial vehicles is kept relatively stable; and S6, judging whether cluster steering is completed or not. If yes, turning is ended; and if not, returning to S2 to continue execution. In the cluster steering process, in order to avoid collision and separation of the unmanned aerial vehicle and control energy consumption, corresponding constraint conditions are established. When the unmanned aerial vehicle cluster steers, the acceleration can be dynamically adjusted according to the defined acceleration adjustment coefficient, rapid steering of the unmanned aerial vehicle cluster is achieved, the unmanned aerial vehicle cluster moves similar to a rigid body, and the cohesive force of the unmanned aerial vehicle cluster is increased.

Description

technical field [0001] The invention belongs to the field of formation control of swarms of unmanned aerial vehicles, and in particular relates to a rapid steering method of swarms of unmanned aerial vehicles based on differential acceleration. Background technique [0002] UAV swarm formation refers to the formation of multiple UAVs in a specific formation to complete complex tasks through information dissemination and coordination among UAVs. And there are no strict orientation and relative position constraints between individuals. Generally, individual behaviors are relatively simple and single, and through information communication with each other, the overall effect is achieved, and a high degree of autonomous cooperation can be achieved. Swarm motion means that in an autonomous and complex multi-agent system, if all the agents eventually converge to the same velocity vector, and the distance between the two agents eventually remains stable; the total potential energy ...

AI Technical Summary

Problems solved by technology

However, the UAVs with different distances from the leader UAV have different frictional forces on their acceleration, which makes the cluster unable to achieve the speed consistency in the motion state, making the UAV cluster turn slowly and may appear tailing phenomenon.

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