Cooperative landing method for multiple unmanned aerial vehicles

A multi-UAV, UAV technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve problems that are rarely covered in literature

Inactive Publication Date: 2012-10-24
TSINGHUA UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

On the one hand, most of the existing research focuses on using the ground control station to aggregate and process the information collected by multiple UAV sensors, which is not suitable for multi-UAV auto

Method used

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  • Cooperative landing method for multiple unmanned aerial vehicles
  • Cooperative landing method for multiple unmanned aerial vehicles
  • Cooperative landing method for multiple unmanned aerial vehicles

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Embodiment Construction

[0024] In the present invention, a plurality of unmanned aerial vehicles establishes an Ad Hoc communication network, and each unmanned aerial vehicle uses an airborne sensor to search for a landing landmark and recognizes neighbor unmanned aerial vehicles, and uses a wireless link to share position and status information in a broadcast manner; then calculates its own and The relative distance and angle of the landing landmark and the neighbor drones; then use the artificial potential field method to construct the environmental space potential field, calculate the attraction of the landing landmark and the repulsion between the neighbor drones to ensure flight safety, and establish a kinematics model And determine the trajectory; Finally, during the landing process, the respective trajectory is continuously updated and adjusted to achieve a coordinated and safe landing.

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments ...

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Abstract

The invention provides a cooperative landing method for multiple unmanned aerial vehicles. The method comprises the followings steps of: establishing an Ad Hoc communication network for multiple unmanned aerial vehicles; searching for the self position and landing landmark of each unmanned aerial vehicle by using an onboard sensor, and transmitting a data packet to the neighboring unmanned aerial vehicle in a broadcasting way on the basis of the Ad Hoc communication network, wherein the data packet comprises position information and state information; calculating relative distances and relative angles between each unmanned aerial vehicle and the landing mark as well as between the unmanned aerial vehicle and the neighboring unmanned aerial vehicle in combination with self information of the unmanned aerial vehicle according to the received data packet; and constructing an environmental space potential field, calculating the attraction Fatt of the landing mark and repulsive force Frep from the neighboring unmanned aerial vehicles, calculating potential field resultant force, building a kinematic model, and determining the movement track of each unmanned aerial vehicle. Due to the adoption of the cooperative landing method, onboard sensor information can be shared and controlled cooperatively when an unmanned helicopter cluster performs a task, the safety of cluster landing is ensured, and high adaptability and expandability are achieved.

Description

technical field [0001] The invention relates to the technical field of wireless communication and intelligent control, in particular to a multi-UAV cooperative landing method. Background technique [0002] Due to a series of characteristics such as low cost, high maneuverability and "zero casualties", UAVs have been widely used in military and civilian fields. When a single UAV performs missions such as battlefield surveillance and reconnaissance and disaster scene search and rescue, it faces unfavorable factors such as large mission area, complex environment, limited perception ability, single node failure and other unfavorable factors. Center" traditional combat mode to the "network-centric" multi-UAV cooperative combat mode. Through the sharing of resources such as multi-UAV environment perception capabilities and computing processing capabilities, the mission execution capabilities are expanded and the probability of successful mission execution is improved. The U.S. A...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 戴琼海李一鹏
Owner TSINGHUA UNIV
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