Multi-UAV (unmanned aerial vehicle) dynamic formation control method

Abstract

The invention discloses a multi-UAV (unmanned aerial vehicle) dynamic formation control method, and belongs to the technical field of flight control. The multi-UAV dynamic formation control method includes steps as follows: step 1, a formation keeping method; step 2, an obstacle avoidance method; and step 3, a behavior-based formation process, wherein the behavior-based formation process includes behavior decomposition and control realization. The method solves the defect that the traditional virtual structure manner formation control has higher communication quality requirement; the behavior-based formation control method is introduced to lower the requirement of formation wireless data link update rate and enhances the obstacle avoidance capability of the UAV group formation; and aiming at the defect that the traditional behavior-based manner formation control cannot keep good formation rigidity, a virtual structure is introduced for reference. On the premise of keeping the relatively stable formation, the capability of obstacle and threat avoidance of a microminiature UAV can be enhanced, and the method has a certain reference value for UAV group cooperation low-altitude penetration.

Description

technical field [0001] The invention relates to formation control of miniature unmanned aerial vehicles, belongs to the technical field of flight control, and in particular relates to a dynamic formation control method of multiple unmanned aerial vehicles. Background technique [0002] At present, as many as 30 countries have invested a lot of manpower and financial resources in the research and production of drones. After two decades of development, this technology has become relatively mature and has played a role in various military and civilian fields. However, there are some problems when a single UAV performs tasks. For example, a single UAV may be affected by the number of sensors. Due to limitations, the target area cannot be observed in all directions from multiple angles. When faced with a large-scale search task, it cannot effectively cover the entire search area; The efficiency of the entire rescue will bring greater losses. In addition, once a single drone fail...

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Problems solved by technology

[0008] The purpose of the present invention is to solve the problem of formation control of miniature unmanned aerial vehicles that is convenient for engineering, and propose a dynamic formation control method for multiple UAVs. The behavior-based formation control method reduces the requirement on the formation wireless data link update rate, and enhances the obstacle avoidance ability of the UAV swarm formation; in view of the shortcomings of the traditional behavior-based formation control method, the formation rigidity is not good, and a virtual The structure is used as a reference. Through the fusion of the two formation methods, the advantages of each method can be brought into play: under the premise of maintaining a relatively stable formation, the ability of micro-UAVs to avoid obstacles and threats in unknown environments can be enhanced. There is a certain reference value for the cooperative low-altitude penetration of aircraft groups

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