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A cooperative control strategy for multi-UAVs with increased communication links

A multi-UAV, cooperative control technology, applied in the direction of vehicle position/route/height control, control/regulation system, non-electric variable control, etc., can solve the problem of restricting multi-UAV cooperative operations

Active Publication Date: 2021-05-04
SHENYANG AEROSPACE UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this strategy, there are fewer communication links between UAV groups at the beginning, which limits the advantages of multi-UAV cooperative operations

Method used

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  • A cooperative control strategy for multi-UAVs with increased communication links
  • A cooperative control strategy for multi-UAVs with increased communication links
  • A cooperative control strategy for multi-UAVs with increased communication links

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Embodiment Construction

[0028] The present invention combines the characteristics of multi-UAV cooperative flight (all points of the cluster follow the leader to move), and proposes a strategy: if there is no communication link between a certain point in the cluster and other points, according to the leader The node's current state is moved closer to the virtual leader, so the distance between this node and other nodes in the cluster will be reduced until it can communicate with other nodes in the group. figure 1 Illustrated for the clustering algorithm;

[0029] The dots in the figure represent drones, S represents the search start point, T represents the search end point, the connection line from S to T represents the path of the virtual leader, and the box represents the position of the virtual leader. In the process of multi-UAV flight, all UAVs are flying around this path, and there is no communication link between point A and point B and other points in the figure, so in the initial algorithm ...

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Abstract

A multi-UAV cooperative control strategy that increases communication links, including the steps: during the flight process of multi-UAVs, control the speed of the UAV group in segments, introduce the concept of flight control factors, and propose The clustering algorithm is introduced; in the process of multi-UAV clustering, different stages have different convergence speeds, thereby increasing the number of communication links of the drone group during the flight process, making the group faster and more stable to reach the swarm state. The invention increases the communication link of the UAV during the flight by changing the flight speed of the UAV in different stages. Groups of drones form swarms. Multi-UAV cooperative operations in the battlefield environment have broad application prospects.

Description

Technical field: [0001] The invention relates to a multi-UAV cooperative control method, belonging to the technical field of multi-UAV cooperative control. Background technique: [0002] The so-called cooperative control refers to the research on rapid convergence of UAV groups by controlling the flight speed of UAVs. In the process of multi-UAV flight, some nodes are initially far away from the group, and the iteration is slow. The advantage of multi-UAV cooperative operations lies in the large number of UAVs, which can interact and cooperate with each other, so as to quickly complete tasks. If the convergence between groups is slow and the communication distance between UAVs cannot meet each other, the advantage of multi-UAV will be greatly weakened. Therefore, the present invention adds a flight control factor to the nodes without communication links with the group to change the flight speed of these nodes so that they can converge quickly. According to the current sta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 吴杰宏邹良开赵亮高利军范纯龙石祥滨郭振洲宋成鑫
Owner SHENYANG AEROSPACE UNIVERSITY