Unmanned aerial vehicle (UAV) formation control algorithm based on Lagrange's equation

Abstract

The invention discloses a UAV formation control algorithm based on the Lagrange's equation. An improved manual potential energy field is used in the aspect of formation UAV path programming, and motion of formation UAVs is seen as a constraint dynamic system in the formation maintaining aspect. When the constraint dynamic system is established, a spatial formation constraint equation is established according to a needed formation shape by utilizing spatial geometric relations of the UAVs relative to an inertia coordinate system, a Lagrange multiplier is introduced to establish a constraint dynamic equation set including the formation constraint formation UAVs, and certain stability is combined to eliminate the Lagrange multiplier directly and solve the Lagrange multiplier. The spatial geometric relation of the UAVs is established via the constraint equation, and the formation dynamic equation including the formation constraints is solved to obtain a flight track of the formation UAV to maintain an expected formation, and formation maintenance and transformation are relatively flexible and effective during flight of the UAV formation.

Description

technical field [0001] The invention relates to a method for controlling an unmanned aerial vehicle, in particular to an algorithm for controlling the formation of an unmanned aerial vehicle based on the Lagrangian equation. Background technique [0002] With the rapid development of UAV technology, UAVs have played an irreplaceable role in military affairs, disaster relief, etc., but as the mission environment becomes more and more complex, the shortcomings of single UAV missions are also quickly reflected. . For example, the detection range is narrow when a single drone is used to perform tasks; in complex terrain environments, it is relatively difficult or even difficult to complete tasks with a single drone, etc. On the contrary, the use of multi-aircraft cooperative formation flight can solve many problems exposed by a single aircraft, and at the same time improve the robustness and reliability of the system. Therefore, once the concept of UAV formation was put forwar...

AI Technical Summary

Problems solved by technology

For example, the detection range is narrow when using a single drone to perform tasks; in complex terrain environments, it is relatively difficult or even difficult to complete tasks with a single drone, etc.

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