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A multi-UAV formation self-organization cooperative control method based on rigid graph theory

A technology of cooperative control and multi-UAV, applied in the field of UAV

Active Publication Date: 2020-09-01
GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Abstract
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Problems solved by technology

Because the equipment carried by a single UAV is limited, it is necessary to dispatch multiple times to complete a more complicated task.

Method used

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  • A multi-UAV formation self-organization cooperative control method based on rigid graph theory
  • A multi-UAV formation self-organization cooperative control method based on rigid graph theory
  • A multi-UAV formation self-organization cooperative control method based on rigid graph theory

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Embodiment Construction

[0072] The present invention will be further described below in conjunction with the examples, but it should be noted that the examples do not limit the protection scope of the present invention.

[0073] In order to overcome the deficiencies of the existing technology, the embodiment of the present invention provides a multi-UAV formation self-organization cooperative control method based on a rigid graph, which solves the coordination of the UAV formation and solves the problem of obstacle adaptability, while ensuring the network security. connectivity.

[0074] In order to implement the multi-UAV formation self-organizing cooperative control method based on the rigid graph in the embodiment of the present invention, first, the steps that need to be performed are to construct the multi-UAV self-organizing formation based on the rigid graph, wherein the UAV formation passes Neighbor information exchange builds a network topology, which is represented by an undirected graph G(...

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Abstract

The invention relates to the field of unmanned aerial vehicles, and discloses a multi-unmanned aerial vehicle formation self-organization collaborative control method based on a rigid graph theory. The method includes the following steps: 1. based on a rigid graph, establishing a target rigid network topological structure of an unmanned aerial vehicle formation; and 2. after the establishment of the target rigid network topological structure, if the unmanned aerial vehicle formation comes to a barrier in flight, circumventing the barrier with a virtual force. Compared with prior art, accordingto the invention, the method herein has high efficiency, can be better adaptive to complex environments that have barriers, can circumvent sudden barriers in the environment without collision among unmanned aerial vehicles, ensures good formation in flight, and ensures that the formation returns to the original reference track after circumventing the barrier.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to the technical field of artificial intelligence topology control technology, especially a multi-unmanned aerial vehicle formation self-organization cooperative control method based on rigid graph theory. Background technique [0002] UAV formation flight is an important trend of UAV cooperative control and has broad development prospects. Because the equipment carried by a single drone is limited, it must be dispatched multiple times to complete a more complicated task. The UAV group operating in formation can disperse the equipment, split a complex task into several simple tasks, and assign them to different UAVs in the formation, so that the task can be completed at one time, and the execution of the task will be more efficient. Multiple drones can carry different equipment and cooperate to complete tasks that a single drone cannot. [0003] When the unmanned aerial veh...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘军卢旭
Owner GUANGDONG POLYTECHNIC NORMAL UNIV
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