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Method for multi unmanned aerial vehicle distributed formation control

A multi-UAV, UAV technology, applied in the direction of non-electric variable control, control/regulation system, three-dimensional position/channel control, etc.

Active Publication Date: 2016-04-20
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the prior art, there is no method for adjusting the scale of the formation in time and adopting distributed control for pairing

Method used

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  • Method for multi unmanned aerial vehicle distributed formation control
  • Method for multi unmanned aerial vehicle distributed formation control
  • Method for multi unmanned aerial vehicle distributed formation control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0053] In a horizontal plane with a horizontal height of 5 meters, deploy 5 quadrotor UAVs (self-made quadrotor based on the open source flight control pixhawk, model: wheelbase 550mm). The hardware system of the UAV is mainly divided into the bottom flight control part and the upper computer part. The flight control part controls the flight stability of the drone, and the upper host computer is responsible for the specific algorithm control, and sends the calculated control speed to the bottom flight controller, so as to realize the autonomous flight of the drone.

[0054] The UAV can actively measure the relative position information of the neighbor UAV, mainly through the built-in laser scanner, can actively measure the relative position information of the neighbor UAV and itself, and convert the polar coordinates into the vector required by the algorithm.

[0055] The dynamic model of the motion of the UAV in the horizontal plane is as follows:

[0056] z' i =v i ,i=1,2...

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Abstract

The invention relates to a method for multi unmanned aerial vehicle distributed formation control. N unmanned aerial vehicles are deployed in a preset area, and n is an integer not smaller than 3. The unmanned aerial vehicles can actively measure relative position information of neighbor unmanned aerial vehicles. Expected formation is set for the n unmanned aerial vehicles to determine measurement relationship and communication relationship; formation control is performed on the first unmanned aerial vehicle and the second unmanned aerial vehicle, and a first speed controller is arranged; formation control is performed on the third unmanned aerial vehicle to the n-th unmanned aerial vehicle, and a second speed controller is arranged; and by actively measuring the relative position information of the neighbor unmanned aerial vehicles in the expected formation, speed control is performed so that the mutual movement distance can be consistent with the set distance of the expected formation. The formation is performed through the distributed control of the unmanned aerial vehicles, and the formation dimension can be adjusted to keep away from an obstacle.

Description

technical field [0001] The invention relates to the field of UAV formation control, in particular to a multi-UAV distributed formation control method. Background technique [0002] A drone is an unmanned flying system with a power plant. It has a wide range of applications, it can be used not only in civil fields such as aerial photography and traffic patrol, but also in military fields such as reconnaissance and monitoring. In some dangerous and complicated environments or inaccessible environments, search or search and rescue activities are required, such as post-disaster emergency rescue, snow search and rescue sites, etc. Generally, helicopters can only be used to carry out survey tasks, which is costly and very dangerous. UAVs effect is particularly prominent. [0003] At present, in many applications such as post-disaster search and rescue, security scanning, etc., most of them use a single drone to conduct blanket search. However, limited by the lack of endurance o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 林志赟程鹏沈洪梁
Owner ZHEJIANG UNIV
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