Control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance

A multi-UAV, control algorithm technology, applied in non-electric variable control, control/regulation system, 3D position/channel control and other directions, can solve the problem of UAV communication interruption, inability to complete designated tasks, and inability to control multiple unmanned aerial vehicles. Fleet constraints, etc.

Inactive Publication Date: 2018-09-18
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when obstacles are encountered, the existing control algorithm cannot control multiple UAVs to maintain a good formation constraint an

Method used

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  • Control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance
  • Control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance
  • Control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance

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Experimental program
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Example Embodiment

[0054] Embodiment 1, the present invention is a control algorithm for multi-UAV cooperative formation obstacle avoidance, which mainly includes steps:

[0055] (1) When the UAV formation performs flight missions, the airborne sensors detect the position and speed information of the UAV and airspace obstacles, and transmit the detected information to the UAV control system, so that each UAV According to these information, the aircraft can perform appropriate maneuvers respectively, maintain the formation formation and avoid collision with obstacles; at the same time, for the convenience of calculation, the obstacles in the airspace are simplified and abstracted into a sphere with a certain radius.

[0056] The airborne sensor of the present invention may be any sensor disclosed in the prior art or commercially available that can be applied to the present invention, such as a laser range finder, an ultrasonic range finder.

[0057] (2) Construct a multi-UAV formation communicati...

Example Embodiment

[0116] In embodiment 2, a simulation experiment is carried out to verify the control algorithm of the present invention.

[0117] Assuming that three UAVs form a formation to avoid obstacles, the communication topology of the three UAV formations is as follows: Figure 4 As shown, the initial state and simulation parameters of each UAV are as follows:

[0118] Table 1. The initial state of each UAV

[0119]

[0120] Table 2. Physical limitations of drones

[0121]

[0122] The simulation parameters are as follows:

[0123] k 1 = 1; k 2 =0.01;k 3 = 1; k 4 = 16; δ = 5; ρ iomin = 3; k v = 1.3; k η =6.

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Abstract

The invention provides a control algorithm of multi-unmanned aerial vehicle cooperation formation and obstacle avoidance. The control algorithm comprises steps of (1) when an unmanned aerial vehicle formation executes a flight task, detecting positions and speed information of the unmanned aerial vehicles and airspace obstacles through an airborne sensor, and abstracting obstacles in a flight space into ball bodies; (2) according to position information of each unmanned aerial vehicle, constructing an unmanned aerial vehicle formation communication topology, and using a distributed transmission method, achieving information interaction between neighborhood unmanned aerial vehicles in the formation; (3) constructing an unmanned aerial vehicle dynamics model; and (4) when detecting an obstacle, determining a safe distance of obstacle avoidance of the unmanned aerial vehicles, judging whether the distance between any unmanned aerial vehicle and the obstacle in the unmanned aerial vehicleformation meets requirements of the safe distance, and if not, adjusting the formation pattern and carrying out obstacle avoidance through a virtual force strategy. The control algorithm is operable and simple; cooperation formation of multiple unmanned aerial vehicles can be achieved; obstacles can be avoided quite flexibly; and the control algorithm is very important for multi-cooperative combats.

Description

technical field [0001] The invention belongs to the technical field of UAV control, and in particular relates to a control algorithm for multi-UAV cooperative formation obstacle avoidance. Background technique [0002] Unmanned aerial vehicles (UAVs) have good performance and obvious advantages in autonomously performing complex military and civilian aspects such as airspace surveillance, radiation monitoring, target positioning and tracking. The multi-UAV formation has the advantages of high mission execution success rate, mainly in: (1) large field of view detection, high-precision positioning, multi-angle imaging; (2) can improve the mission execution success rate and overall hit rate; ( 3) The endurance time is extended, and the overall flight resistance is reduced. [0003] When performing missions, there may be obstacles such as buildings, mountains, and flocks of birds in the actual flight airspace of the UAV formation. The existence of these obstacles will threaten ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王晓丽林倩玉王喆盖淑莹王玉彤姜珊
Owner HARBIN INST OF TECH AT WEIHAI
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