Behavior-based formation keeping method for unmanned aerial vehicle (UAV) formation
A drone and formation technology, applied in three-dimensional position/channel control and other directions, can solve problems such as delay, information loss, and communication effects, and achieve the effect of rapid prototyping and avoiding the recovery process
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[0027] Such as figure 1 As shown, a behavior-based UAV formation formation maintenance method of the present invention includes the following steps:
[0028] 1) Initialize the position and speed of the drone;
[0029] 2) Design the position of the drones in the formation, determine that one drone in the formation is the reference drone; other drones maintain a fixed distance and angle with the reference drone, and all drones get Distance and angle information with other drones in the formation;
[0030] 3) The drones perform the behavior of running toward the target according to the expected formation and judge the distance between each drone and the obstacle in real time; the obstacles mentioned are obstacles on the route of the drone;
[0031] When the distance between any drone in the drone formation and the obstacle is less than the set safe distance, the drone formation avoids the obstacle and prevents the collision between the aircraft; otherwise, the drones keep the formation a...
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