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Unmanned aerial vehicle cluster danger avoiding method

A technology of unmanned aerial vehicles and swarms, which is used in the direction of finding targets, such as control

Inactive Publication Date: 2018-03-16
ARMY ENG UNIV OF PLA
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a UAV swarm danger avoidance method to solve the problem of guiding individuals in the UAV swarm to avoid various static / dynamic or single / multiple obstacles and threats in the prior art. body and hazardous area issues

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Embodiment Construction

[0076] 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.

[0077] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0078] Taking the rotor UAV individual i as the object, the obstacle avoidance rules are introduced through its interaction with other UAVs in the same cluster nearby and obstacles and threats outside the cluster. The process is as follows: figure 1 shown.

[0079] f...

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Abstract

The invention is applicable to the field of flight control and provides an unmanned aerial vehicle cluster danger avoiding method. The unmanned aerial vehicle cluster danger avoiding method comprisesthe steps that single rotor-wing unmanned aerial vehicles obtain obstacle / threat information in a detection area and information of other rotor-wing unmanned aerial vehicle individuals in a preset range of the rotor-wing unmanned aerial vehicle individuals, an obstacle / threat light field model is established according to obstacle / threat information, the rotor-wing unmanned aerial vehicles are controlled based on a preset motion control rule I, a preset motion control rule II and a preset motion control rule III according to the information of other rotor-wing unmanned aerial vehicles in the detection area of the rotor-wing unmanned aerial vehicles and the obstacle / threat light field model, so that the rotor-wing unmanned aerial vehicle individuals produce corresponding behavior action instructions, expected control instruction signals which can be executed by the rotor-wing unmanned aerial vehicles are generated according to the behavior action instructions and the state information ofthe rotor-wing unmanned aerial vehicle individuals, and motions of the rotor-wing unmanned aerial vehicles are controlled. The method is simple in control and can be used for automatic avoiding of static / dynamic obstacle objects and dangerous areas. Therefore, an application range is wide, the calculation amount is small, and the flexibility is high.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to a method for avoiding risks of unmanned aerial vehicle clusters. 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. Its application environment is complex. First, due to the large number of members in the cluster, the individuals within the cluster must avoid mutual collisions and maintain cluster flight; secondly, they must avoid the threat of static and dynamic obstacles outside the cluster, or due to combat missions In order to improve the battlefield survivability of UAVs, UAV clusters are required to bypass the enemy's detectio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 毛琼李小民赵月飞王正军胡永江甘勤涛史凤鸣
Owner ARMY ENG UNIV OF PLA
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