Unmanned aerial vehicle formation path planning algorithm based on three-dimensional global artificial potential function

Abstract

The invention discloses an unmanned aerial vehicle formation path planning algorithm based on a three-dimensional global artificial potential function. The algorithm is mainly used to solve problems of formation maintenance of an unmanned aerial vehicle, path planning, three-dimensional obstacle avoidance and the like under a three-dimensional space environment. The algorithm comprises the following steps of firstly establishing a mathematic model of a global potential function under a three-dimensional space; then according to an expected formation, establishing a formation geometry equation of the unmanned aerial vehicle under the three-dimensional space; and finally, establishing a formation unmanned aerial vehicle kinematics equation containing a formation constraint. In the method, through the formation geometry equation, a geometric relation of the plurality of unmanned aerial vehicles under the three-dimensional space is established; and a penalty function method is used to solve a constraint dynamics equation so as to acquire a flight path of the formation unmanned aerial vehicle. Compared to a traditional classic artificial potential function, by using the algorithm of the invention, a two-dimensional space limitation problem of a two-dimensional classic artificial potential function can be solved and problems that a local minimum value exists in a classic potential function and so on can be solved too. By using the algorithm of the invention, limitation of the two-dimensional classic potential function and path planning of the formation unmanned aerial vehicle can be effectively solved.

Description

technical field [0001] The invention relates to the fields of UAV formation path planning and UAV formation formation control, in particular to a UAV formation path planning algorithm based on a three-dimensional global artificial potential function. Background technique [0002] At present, with the continuous development of aerospace technology, UAVs have played a pivotal role in both military fields such as military reconnaissance and ground strikes, as well as civilian fields such as forest fires, disaster rescue, and power line inspection. Nevertheless, we must see that a single UAV is restricted by many factors such as the degree of intelligence and reliability of the individual when performing tasks, resulting in many problems when performing related tasks or even failing to complete the specified tasks. For example, due to factors such as the number of its own sensors or the limitation of sensor angles, a single UAV cannot completely obtain the overall environmental ...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a UAV formation path planning algorithm based on the three-dimensional global artificial potential function, which can break through the limitations and deficiencies of the two-dimensional classic artificial potential function, and solve the problem of UAV formation in three-dimensional space. Formation maintenance, path planning and three-dimensional obstacle avoidance in the environment

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