Unmanned aerial vehicle formation method based on small bird cluster flight mechanism

A technology for unmanned aerial vehicles and birds, which is applied in non-electric variable control, control/regulation system, three-dimensional position/channel control, etc. It can solve the problems that the stability of formation and the convergence of motion state are difficult to be guaranteed, and there is no unity.

Active Publication Date: 2017-06-13
BEIHANG UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

The behavior-based method abstracts the motion of the UAV into a few simple behaviors, such as level flight, turning left, turning right, etc. The UAV evaluates the current state of motion and obtains the next behavior in order to maintain the formation structure.

Method used

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  • Unmanned aerial vehicle formation method based on small bird cluster flight mechanism
  • Unmanned aerial vehicle formation method based on small bird cluster flight mechanism
  • Unmanned aerial vehicle formation method based on small bird cluster flight mechanism

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Embodiment Construction

[0064] The effectiveness of the design method proposed by the present invention is verified below through a specific example. Five UAV formations perform patrol missions, and circle around a square area of ​​300m×300m counterclockwise. The schematic diagram of the mission is attached figure 2 shown. Each drone carries a small-range detection device, which can detect a circular area with a radius of 20 meters centered on its own position. Therefore, as long as one drone in the formation is less than 20 meters away from a certain path point, it is considered to have passed the path. point without strictly flying over it. The formation configuration is an inverted V shape, the sharp corner points to the flight direction, the top angle is 30 degrees, and the distance between adjacent drones is 3.75 meters. The schematic diagram of the configuration is attached image 3 shown. Considering the actual performance of the UAV, its maximum flight speed is limited within 5 m / s. The e...

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Abstract

The invention discloses an unmanned aerial vehicle formation method based on a small bird cluster flight mechanism. The unmanned aerial vehicle formation method includes the implementation steps that 1, an unmanned aerial vehicle communication network based on a bird flock hierarchical structure is designed; 2, a formation navigator based on bird flock foraging behaviors is designed; 3, a formation controller based on bird flock neighbor interaction behaviors is designed; 4, a flight mode switching device based on bird flock behaviors is designed. Through the method, formation and shaping of multiple unmanned aerial vehicles can be realized stably, and the method adapts to different task environments, and provides the feasible technical means for large-scale cluster formation of small unmanned aerial vehicles.

Description

[0001] 1. Technical field [0002] The invention relates to an unmanned aerial vehicle formation method based on a small-scale bird cluster flight mechanism, and belongs to the field of autonomous control of unmanned aerial vehicles. [0003] 2. Background technology [0004] UAV swarm technology has recently become a hot research field. On the one hand, due to the needs of practical applications of UAVs, the tasks are becoming more complex and diverse, and the performance requirements for single UAVs are constantly improving. Reconnaissance drones may need to carry multiple sensor loads such as visible light, infrared, thermal imaging, ultrasonic, and laser in a single mission, and search covertly in complex terrain; transport drones may have to pass through vast uninhabited areas. With long range, long endurance and high reliability; combat drones need to carry a large number of mission loads, such as a variety of weapons and ammunition, and at the same time need to interpret...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 段海滨张天捷
Owner BEIHANG UNIV
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