Unmanned aerial vehicle formation form automatic generation method and device

Abstract

The invention provides an unmanned aerial vehicle formation form automatic generation method. The method comprises the following steps: 1) determining resultant force of repulsion forces applied to each unmanned aerial vehicle by other unmanned aerial vehicles in a preset unmanned aerial vehicle formation form fitting pattern in unmanned aerial vehicle formation; 2) calculating tangential components of the resultant force of the repulsion forces in the formation form fitting pattern; 3) determining displacement amount and displacement speed of the unmanned aerial vehicle along a track line/surface of the form fitting pattern according to the tangential components; 4) carrying out position adjustment along the track line/surface of the form fitting pattern according to the determined displacement amount and displacement speed; 5) judging whether the current position meets a position adjustment end condition, if so, carrying out the step 6), and if not, carrying out the steps1)-4) circularly; and 6) taking the form formed after position adjustment of all unmanned aerial vehicles in the unmanned aerial vehicle formation as the form of the generated unmanned aerial vehicle formation. The method and device can enable unmanned aerial vehicles to change formation forms to meet the requirements of environment transformation and fleet quantity increase and decrease.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, and more specifically, the embodiments of the present invention relate to a method and device for automatically generating formations of unmanned aerial vehicle formations. Background technique [0002] At present, the generation of UAV formation formation is usually manually set, and the transformation between formations is also a manual planning path. The advantage of this method is that the formation principle of the formation is simple, such as a square formation, but the disadvantage is that the degree of automation is low, and complex formations cannot be arranged, and when there is a problem with the formation, for example, a drone in a formation fails to leave the formation, or the formation increases. If a UAV flies according to the original planned path, the spacing of UAVs in the entire formation will no longer be uniform, destroying the integrity of the format...

AI Technical Summary

Problems solved by technology

The advantage of this method is that the formation principle of the formation is simple, such as a square formation, but the disadvantage is that the degree of automation is low, and complex formations cannot be arranged, and when there is a problem with the formation, for example, a drone in a formation fails to leave the formation, or the formation increases. If a UAV flies according to the original planned path, the spacing of UAVs in the entire formation will no longer be uniform, which will destroy the integrity of the formation and affect the visual effect of the entire formation flight performance

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