Anti-collision control method for UAV formation flight turning

Abstract

The invention provides a turning anti-collision control method for UAV formation flight. Aimed at an isomorphic lead aircraft and wining plane type rhombus formation, a method based on airway restriction is used. According to maneuvering characteristic limitation of an UAV, the turning airway of the lead aircraft is corrected, and wining planes change respective airways according to the relation positions with the lead aircraft. Thus, a practical formation turning airway is generated. Using the anti-collision method, formation tacking error is reduced, and the method prevents the formation structure from being damaged. On airway planning, the method solves a problem of anticollision when the formation turns.

Description

technical field [0001] The invention relates to an anti-collision control method for UAV formation flight turning, in particular to a UAV formation turning route restriction method, which belongs to the field of route planning. Background technique [0002] In addition to the mobility and agility of UAVs, the development of modern UAVs also requires UAVs to have the ability of multi-machine cooperative flight and combat. UAV formation flight is to arrange multiple UAVs with autonomous functions in a three-dimensional space according to a certain structural form to ensure the stability of the formation during the flight process, but it can be dynamically adjusted according to changes in external conditions and mission requirements. . The success rate of UAV formation missions and the ability to resist emergencies are much higher than those of single flight, and the short-distance formation can effectively increase the aerodynamic performance of UAVs in the following position...

AI Technical Summary

Problems solved by technology

[0003] The formation maintenance of UAV formation flight is particularly important when turning. Most of the current route planning algorithms do not fully consider the maneuverability limitations of UAVs, especially the speed limit. If the flight speed cannot be reduced to the theoretical design value specified by the route, it will easily collide with the outside UAV, and when the formation transitions from straight flight to turning flight, due to the switching of the control law, it is easy to cause the system to malfunction. Stability, which in turn increases the probability of collision accidents when turning

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