UAV formation control method and device based on artificial potential field method

Abstract

The invention relates to a UAV (unmanned aerial vehicle) formation control method and device based on an artificial potential field. The method is characterized by converting a formation coordinate system to a global NED coordinate system, and determining an ideal position of each UAV in the formation in the global NED coordinate system; according to a preset target position of the UAV and the ideal position of the UAV, determining gravity applied to the UAV by the preset target position; according to velocity vector of the UAV and velocity vector of a barrier corresponding to the UAV, determining repulsion force applied to the UAV by the barrier; according to the gravity applied to the UAV and the repulsion force applied to the UAV by all barriers, determining resultant force applied to the UAV; and according to the resultant force applied to the UAV and flight status information of the UAV and wing planes around, determining movement trend of the UAV to enable a controller to carry out flight control on the UAV formation according to a motion model of the UAV.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for controlling unmanned aerial vehicle formations based on an artificial potential field method. Background technique [0002] With the development of aviation technology, the application of drones in civilian and military fields is becoming more and more common. [0003] UAV is an aircraft with certain operational functions without a driver. It is widely used in civilian fields, such as agricultural plant protection, power inspection, geographic surveying and aerial photography, etc. However, the increasingly complex application scenarios and the development trend of integration and miniaturization of UAVs make a single UAV limited by its size and energy consumption, and its ability to work in increasingly complex application environments is relatively limited. In order to compensate for the limitations of a single UAV, the collaborative op...

AI Technical Summary

Problems solved by technology

However, the traditional artificial potential field is a global static planning method, and the safe distance between the UAV and the obstacle is a fixed value. This simplistic consideration of the obstacle avoidance problem may easily lead to serious unmanned The aircraft shakes at the edge of the safe distance, which seriously affects the formation flight control

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