Behavior-based formation keeping method for unmanned aerial vehicle (UAV) formation

Abstract

The invention discloses a behavior-based formation keeping method for an unmanned aerial vehicle (UAV) formation. The method comprises the following steps as follows: 1) initializing the positions and the speeds of UAVs; 2) designing the position of each UAV in a UAV formation; 3) driving the UAVs to head to a target according to an expected formation, and judging the spacing between each UAV and an obstacle in real time; when the spacing between any UAV and the obstacle is smaller than a preset safety distance, driving the UAV formation to avoid the obstacle; 4) judging whether the expected formation of the UAV formation is disrupted or not in real time, and recovering the UAV formation if the expected formation of the UAV formation is disrupted. According to the technical scheme of the invention, the formation of the UAV formation can be effectively ensured. When the formation of the UAV formation encounters an obstacle, the entire formation of the UAV formation avoids the obstacle. Therefore, the condition that UAVs might collide to each other to disrupt the formation by adopting the obstacle avoidance method for each single UAV can be avoided. When the formation is disrupted, the formation can be quickly recovered.

Description

technical field [0001] The method relates to the field of cooperative formation control of unmanned aerial vehicles, and in particular relates to a behavior-based method for formation maintenance of unmanned aerial vehicle formations. [0002] technical background [0003] According to the phenomenon of animal cooperation observed in the biological world, people apply it to the formation control of UAVs. In many similar intelligent body fields, it is necessary for the intelligent body to maintain a fixed position during movement and work. Formation, which is very important for the completion of military tasks. [0004] Cooperative formation control of UAVs is a general and typical multi-UAV coordination problem, and it is the basis of multi-UAV coordination problems. At present, there have been drone formations composed of multiple drones. The tasks that can be completed include reconnaissance, encirclement, anti-enemy, patrol, etc. The coordination between drones is very im...

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