Multi-agent cluster coordination method and multi-UAV cluster coordination system

A multi-agent, intelligent body technology, applied in control/regulation systems, non-electric variable control, instruments, etc., can solve problems such as poor flexibility, low redundancy, and low mission efficiency of a single UAV system, and achieve rapid Effects of Convergence Ability

Inactive Publication Date: 2017-09-19
FUDAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to propose a method for multi-agent cluster coordination and a corresponding multi-...

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  • Multi-agent cluster coordination method and multi-UAV cluster coordination system
  • Multi-agent cluster coordination method and multi-UAV cluster coordination system
  • Multi-agent cluster coordination method and multi-UAV cluster coordination system

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Experimental program
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Embodiment 1

[0029] exist A multi-agent system in space contains N individual agents. Among them, the kinematic model of each agent follows the following second-order difference equation:

[0030]

[0031] Among them, p i (k), v i (k), u i (k) respectively represent the position, velocity and acceleration vector of the agent i at the kth sampling moment; T s is the sampling period of the agent's control system; the controller input for each agent is the constant acceleration u between adjacent sampling instants i (k).

[0032] Each agent is given the same interaction radius r c , agent i can receive data from other agents within its interaction radius by computing the relative position r ij =p j -p i (j≠i), and press Determine the set of neighbors for agent i In each sampling period of agent i, due to the change of the spatial position, the set of neighbors Subject to variation, omitted here for brevity without loss of generality The time label k of .

[0033] Such as...

Embodiment 2

[0080] use Figure 5 to Figure 7 The shown device realizes multi-UAV cluster cooperative flight.

[0081] Such as Figure 5 As shown, each quadrotor UAV (30) in the multi-UAV system described in this embodiment includes a flight controller (300), a power system (302,304), a power supply system (306,3060,3062, 3064), sensor systems (308, 3080, 3082, 3084, 3086, 3088), communication systems (310, 3100, 3102, 3104), and other peripherals (312). Wherein, the flight controller (300) is the central control unit of each quadrotor UAV (30). The flight controller can access the data of the sensor through the sensor interface (308), which is used to solve various variables required to control the drone. Among them, the accelerometer (3080), gyroscope (3082) and electronic compass (3084) are used to obtain the attitude of the drone, including pitch, roll, yaw, and angular velocity and angular acceleration in the three axis directions; The barometer (3086) is used to obtain the altitu...

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Abstract

The invention belongs to the technical field of a distributed control system and relates, specifically, to a multi-agent cluster coordination method and a multi-UAV cluster coordination system. The multi-agent cluster coordination method of the invention allows agents to exchange information with neighbors within their respective interaction ranges and to form a cluster in a self-organized manner by solving for the control input through distributed mode predictive control. The method further allows the presence of a leader agent in the system to lead the overall motion trajectory of the agent cluster. The multi-UAV cluster coordination system provided by the invention enables multiple UAVs to autonomously achieve cluster flight through data exchange thereamong, enhances the efficiency of executing the tasks that need the coverage of a large area, such as aerial photography, monitoring, search and rescue, and the like, and has high adaptivity and redundancy.

Description

technical field [0001] The invention belongs to the technical field of distributed control systems, and specifically relates to a method for multi-agent cluster coordination and a corresponding multi-UAV cluster coordination system, which can enable multiple UAVs to realize autonomously through mutual data exchange Swarm flight. Background technique [0002] Unmanned Aerial Vehicles (UAVs) are a type of unmanned aircraft that rely on wireless remote control equipment and onboard automatic control systems for flight. According to the power system and flight principle of UAVs, it can generally be divided into fixed-wing UAVs, rotary-wing UAVs, unmanned airships, and other types of UAVs that conform to the basic concept of UAVs. In recent years, with the development of technologies such as Micro-Electro-Mechanical System (MEMS) and Brushless Direct-Current Motor (BLDC), the sensing, control and power systems of UAVs tend to be small UAVs have gradually shifted from the field ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李翔袁泉詹璟原
Owner FUDAN UNIV
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