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Collaborative control method for trajectory and attitude of swarm unmanned aerial vehicle (UAV) oriented to security domain

A technology oriented to safety and collaborative control, applied in the field of UAV aircraft control and coordinated control of the trajectory and attitude of cluster UAVs, it can solve problems such as increased computational complexity, and achieve the effect of weakening the requirements of positioning accuracy.

Active Publication Date: 2021-08-31
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

Method used

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  • Collaborative control method for trajectory and attitude of swarm unmanned aerial vehicle (UAV) oriented to security domain
  • Collaborative control method for trajectory and attitude of swarm unmanned aerial vehicle (UAV) oriented to security domain
  • Collaborative control method for trajectory and attitude of swarm unmanned aerial vehicle (UAV) oriented to security 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 control technology of unmanned aerial vehicles. In order to propose a cooperative control method for the trajectory and attitude of unmanned aerial vehicles, it can effectively avoid the shortcomings of traditional cluster unmanned aerial vehicles in planning the trajectory for each unmanned aerial vehicle, and can effectively weaken the impact on the positioning accuracy of unmanned aerial vehicles. Requirements, for this reason, the present invention is oriented to the cluster UAV trajectory attitude cooperative control method in the security domain, the steps are as follows: the first part, the establishment of the control-oriented quadrotor UAV trajectory attitude model: fully consider the inherent characteristics of the quadrotor UAV and the dynamic factors in flight, establish the trajectory attitude mathematical model of the quadrotor UAV; the second part, the trajectory planning of the cluster center: realize the obstacle avoidance route planning of the center point of the cluster UAV based on the pseudospectral method; the third part , Optimization of the safe flight area: complete the optimization of the safe flight envelope of the swarm UAV and the optimal formation configuration of the swarm UAV; the fourth part, the design of the distributed cooperative controller. The invention is mainly applied to the control occasion of unmanned aerial vehicle.

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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Patent Type & Authority Patents(China)
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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