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Unmanned aerial vehicle cluster surrounding tracking method

A technology of unmanned aerial vehicles and swarms, applied in non-electric variable control, instruments, control/regulation systems, etc., can solve the problem of automatic assignment and tracking of multi-dynamic target tasks, poor control effect, large calculation and communication volume, etc. question

Active Publication Date: 2018-02-16
ARMY ENG UNIV OF PLA
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a UAV swarm tracking method based on bionic rules to solve the poor control effect caused by the large amount of calculation and communication in the prior art and the inability to automatically control multiple dynamic target tasks. Issues with Assignment and Implementation Tracking

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  • Unmanned aerial vehicle cluster surrounding tracking method

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Embodiment Construction

[0104] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0105] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0106] Surrounding tracking process: centering on UAV individual i, the interaction process between UAV individual i, UAV individual j and UAV individual k is as follows: figure 1 shown. figure 1 ① means that the ground control station sends the position of the target...

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Abstract

The invention is suitable for the field of flight controlling, and provides an unmanned aerial vehicle cluster surrounding tracking method. The method comprises the steps of acquiring tracking objectinformation and other rotor unmanned aerial vehicle individual information in the detecting range of a rotor unmanned aerial vehicle individual by the rotor unmanned aerial vehicle individual; according to a light field model of the tracking object, making the rotor unmanned aerial vehicle perform object motion tracking and space adjustment motion according to a first preset motion control rule and a second preset motion control rule, and making the rotor unmanned aerial vehicle individual generate a corresponding behavior action instruction; according to the behavior action instruction, generating an expected control instruction signal which can be executed by the rotor unmanned aerial vehicle according to the state information of the rotor unmanned aerial vehicle individual, and controlling motion of the rotor unmanned aerial vehicle; and repeatedly executing the first preset motion control rule and the second preset motion control rule until the tracking process is finished. The unmanned aerial vehicle cluster surrounding tracking method realizes simple and flexible controlling and is suitable for automatic distribution and surrounding tracking to single or multiple static / dynamic objects, and furthermore the number change of inner members in the cluster does not increase controlling complexity.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to an unmanned aerial vehicle cluster surround tracking method. Background technique [0002] Unmanned aerial vehicle (UAV) swarm is one of the research hotspots in the world in recent years. Because of its high task execution efficiency in military reconnaissance, target strike, communication relay, electronic countermeasures, battlefield assessment, and enemy interference, it has gradually gained wide popularity. application. Based on the requirements of combat missions, the current existing technologies have complex control and poor flexibility when controlling the UAV swarm to track the target around. A simple and flexible distributed control method is required for UAV swarms to perform target orbiting and tracking tasks. Contents of the invention [0003] In view of this, the embodiment of the present invention provides a UAV swarm tracki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 毛琼李小民张代兵苏立军路平赵月飞矫永康杜占龙
Owner ARMY ENG UNIV OF PLA
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