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Cluster UAV (unmanned aerial vehicle) locus and attitude cooperative control method for safety domain

A security-oriented and collaborative control technology, applied in the field of UAV aircraft control and cluster UAV trajectory and attitude cooperative control, can solve the problems of increased computational complexity

Active Publication Date: 2018-08-10
TIANJIN UNIV
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Problems solved by technology

Therefore, the computational complexity increases dramatically with the number of obstacles and the number of drones

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  • Cluster UAV (unmanned aerial vehicle) locus and attitude cooperative control method for safety domain
  • Cluster UAV (unmanned aerial vehicle) locus and attitude cooperative control method for safety domain
  • Cluster UAV (unmanned aerial vehicle) locus and attitude cooperative control method for safety domain

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Embodiment Construction

[0126] Aiming at the deficiencies of the existing control strategies, the present invention uses the idea of ​​distribution, and proposes for the first time a collaborative control method for the trajectory and attitude of clustered UAVs oriented to the security domain. In this method, by designing the trajectory of the central point of the cluster UAV, the safe flight area and the distributed cooperative control strategy, it is ensured that the cluster UAV can fly around obstacles safely and without collision and fly towards their respective target areas from the designated starting point. In the absence of global information, a UAV only relies on neighboring aircraft information to achieve coordination.

[0127] The invention relates to the technical field of flight control of a quadrotor unmanned aerial vehicle. Specifically, a collaborative control method for the trajectory and attitude of clustered drones that is different from the traditional clustered drones in the past...

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Abstract

The invention relates to the technology of UAV (unmanned aerial vehicle) control, aims at proposing a UAV locus and attitude cooperative control method and ironing out a defect in the locus planning for each UAV of a conventional UAV cluster, and can effectively reduce the requirements for the positioning precision of the UAV. Therefore, the invention provides a cluster UAV locus and attitude cooperative control method for a safety domain, and the method comprises the following steps: 1, control-oriented four-rotor-wing UAV locus and attitude model building: giving full consideration to the inherent characteristics of a four-rotor-wing UAV and the dynamic factors in flight, and building a locus and attitude mathematic model for the four-rotor-wing UAV; 2, cluster center locus planning: achieving the obstacle avoidance path planning for a cluster UAV central point based on a pseudo-spectral method; 3, safety flight region optimization: completing the optimization of a cluster UAV safetyflight envelope and a cluster UAV optimal formation configuration; 4, distributed cooperative controller design. The method is mainly used in a UAV control occasion.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to the field of collaborative control of trajectory and attitude of clustered unmanned aerial vehicles. Background technique [0002] Unmanned Aerial Vehicle (UAV) refers to an aerial robot system that can complete flight behavior through autonomous or remote control without direct manipulation by the driver. In the early days, drones were mainly used for military purposes. In recent years, they have been gradually extended to more and more civilian fields such as agriculture, forestry, plant protection, power inspection, cargo delivery, geological exploration, environmental monitoring, and forest fire prevention. Compared with manned aircraft, UAVs have the following two main advantages: since there is no driver on board, the cockpit and related equipment can be saved, reducing the weight and manufacturing cost of UAVs; With constraints such as psychologica...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 田栢苓马宇昕鲁瀚辰刘丽红崔婕
Owner TIANJIN UNIV
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