Cooperative landing method for multiple unmanned aerial vehicles

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...

AI Technical Summary

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 autonomous collaboration under complex conditions; on the other hand, for multi-UAV networking The sensor information sharing and collaborative control methods in the scene are rarely involved in the literature

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