Unmanned aerial vehicle formation obstacle avoidance priority on-line configuration method based on collision cone

Abstract

The invention discloses an unmanned aerial vehicle (UAV) formation obstacle avoidance priority on-line configuration method based on a collision cone. The method comprises the steps of (1) collecting real-time positions and speeds of each UAV in a formation and an obstacle in an environment, and predicting a fastest collision time of each UAV in the formation and the obstacle on the above basis, (2) calculating a collision angle range of each UAV according to the collision cone theory, (3) constructing a collision evaluation function and calculating a maximum overload needed by performing a maneuver by each UAV in avoiding the obstacle with the combination of the fastest collision time and the collision angle range, and (4) comparing urgent degrees of collision evaluation of UAVs, and orderly distributing obstacle avoidance priorities from high to low to corresponding UAVs according to the sorting of urgent degrees from high to low. The method has the advantages of easy implementation, the adaption to different obstacle environments and online and real-time allocation calculation, and a guarantee is provided for the rapidity and accuracy of the obstacle avoidance of the UAV formation.

Description

technical field [0001] The invention relates to the field of UAV formation obstacle avoidance, in particular to an online configuration method for UAV formation obstacle avoidance priority based on collision cones. Background technique [0002] UAVs are widely used in various military and civilian fields due to their small size, light weight, low cost, high mobility, good concealment, and strong adaptability. With the continuous improvement of technology and the expansion of UAV applications, many tasks with high complexity need to be completed by a formation of multiple UAVs. The flight safety of the formation is an important guarantee for the smooth execution of the mission. In the process of task execution, the working environment is often very complex, not only full of obstacles of various shapes, but also the distribution of obstacles is often uncertain, and there are even cases where the space through which to pass is very limited. This requires that the UAV formatio...

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Problems solved by technology

[0005] Purpose of the invention: In order to solve the problem of poor environmental adaptability of the existing UAV formation obstacle avoidance technology, the present invention provides an online configuration method for UAV formation obstacle avoidance priority based on collision cones, according to the characteristics of obstacle distribution and formation flight According to the actual situation, the urgency of obstacle avoidance of each UAV is calculated in real time, and the priority is assigned to the formation UAV online, so that it can deal with the complex obstacle environment that may be encountered during the flight, so that the UAV formation can sequentially , Orderly pass through the obstacle area, overcoming the deficiencies of the existing technology

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