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

Inactive Publication Date: 2017-09-01
ZHEJIANG UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

Due to this reason, the exchanged information may be lost or delayed for no reason, which wil

Method used

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

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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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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...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 王磊杨强
Owner ZHEJIANG UNIV
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