Distributed fault-tolerant management method of multi-UAV formation structure

Abstract

The present invention discloses a distributed fault-tolerant management method of a multi-UAV formation structure. The method is characterized by comprises the following steps that: (1) a ground control center builds an initial formation structure and sends the structure to all UAVs, (2) each of the UAVs autonomously form an initial formation structure together and flies, (3) each of the UAVs judges whether other UAVs is newly damaged or not, and the method returns to the step (3) if not, (4) the remaining UAVs judge whether need to be responsible to calculate the formation structure again or not, and a step (5) is executed if so, whether a new formation structure message is received or not is judged if not, a step (6) is executed if the new formation structure message is received, otherwise the remaining UAVs continue to wait, (5) the new formation structure is reconstructed and sent to other UAVs, and (6) the remaining UAVs autonomously form a new formation structure and fly, and the method returns to the step (3). According to the distributed fault-tolerant management method, the multi-UAV formation structure with multi-level composition can be supported, and the formation structure can be rapidly and autonomously reconstructed when the UAVs are damaged, and the reliability and robustness are high.

Description

technical field [0001] The invention relates to fault-tolerant management of multi-unmanned aerial vehicles formation structure, and belongs to the field of unmanned aerial vehicle control and decision-making. Background technique [0002] The fault-tolerant management of the multi-UAV formation structure refers to the use of the remaining UAVs in the formation to complete the formation structure when one or more UAVs in the formation are damaged during the execution of tasks in the multi-UAV formation. Adjust to maintain the stability of the formation structure, so as to ensure the smooth completion of formation tasks. [0003] The traditional fault-tolerant management method of multi-UAV formation structure is mainly centralized, and a master control center (which can be a ground control center or a central UAV) is required to track the status of the formation. When one or more UAVs are damaged, the main control center is responsible for controlling the remaining UAVs in ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of the existing fault-tolerant management method of multi-UAV formation structure, the present invention proposes a distributed fault-tolerant management method of multi-UAV formation structure, in order to combine multiple UAV formations When the UAVs are damaged during the flight of the complex UAV formation, the remaining UAVs can make independent decisions to uniquely determine one of the UAVs to complete the adjustment of the formation structure, so as to ensure that the multi-unmanned The stability of the UAV formation structure improves the reliability and robustness of the fault-tolerant management of the multi-UAV formation structure

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