Multi-UAVs distributed formation control method

A control method, multi-UAV technology, applied in non-electric variable control, control/regulation system, three-dimensional position/channel control and other directions, can solve the problems of inability to obtain UAV position information, failure, etc.

Inactive Publication Date: 2016-05-18
ZHEJIANG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

Considering that in areas where GPS cannot be used, the position information of each drone in the global coordinate system cannot be obtained, such a control method will fail

Method used

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  • Multi-UAVs distributed formation control method
  • Multi-UAVs distributed formation control method
  • Multi-UAVs distributed formation control method

Examples

Experimental program
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Effect test

Embodiment Construction

[0041]In a horizontal plane with a horizontal height of 5 meters, deploy 20 quadrotor UAVs (self-made quadrotors based on the open source flight control pixhawk, model: wheelbase 550mm), and number the 20 quadrotor UAVs in sequence, such as Figure 4 shown.

[0042] The UAV satisfies the following motion model in the horizontal plane:

[0043] x i '=u i ,i=1,2,...,n;

[0044] where n is an integer n≥3, x i is the position vector of the UAV in the horizontal plane, x i ′ is the derivative of the position vector of the UAV in the horizontal plane, u i is the velocity vector of the UAV moving in the horizontal plane.

[0045] The hardware system of the UAV is realized by cascading two embedded motherboards. One embedded motherboard is used as a flight controller to directly drive the underlying physical devices; the other embedded motherboard can be used to provide interfaces for external sensors, acquire sensor data and execute high-level distributed formation control alg...

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Abstract

The invention relates to a multi-UAVs distributed formation control method. The method includes following steps: n unmanned aerial vehicles are deployed in a preset area, wherein n is an integer greater than or equal to 3; the unmanned aerial vehicles can actively obtain relative position information of the adjacent unmanned aerial vehicles in a self inertia coordinate system; and the unmanned aerial vehicles calculate the expected speed of the unmanned aerial vehicles via a distributed control algorithm and perform speed control so that the unmanned aerial vehicles maintain a given distance, and a triangular chain formation is formed when the system is stable. According to the formation control method, the convergence is good, the system can be guaranteed to be stable, the communication network can be prevented from being attacked, the system anti-interference capability is improved, and compared with the conventional formation control algorithm, the required calculation resource is fewer, and the required control quantity is more easily obtained.

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] In many applications such as target search and rescue, agricultural value protection, security monitoring, etc., it is difficult for a single UAV to meet the needs of large-scale operations in terms of efficiency and battery life. It is very important to use multiple UAVs for formation operations. Through an effective UAV formation control strategy, many problems in the application scenarios of large-scale UAV operations can be effectively solved. [0003] In view of the shortcomings of a single UAV, the concept of formation flight control has been proposed in recent years and some research results have been achieved. Mainly include: formation design, aerodynamic coupling, formation dynamic adjustment, track coordination planning, mobile self-organizing network And formation flight control method...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 林志赟程鹏沈洪梁
Owner ZHEJIANG UNIV
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