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A control algorithm for multi-UAV cooperative formation obstacle avoidance

A control algorithm and multi-UAV technology, applied in control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., can solve the problem of uncontrollable multi-UAV formation constraints, UAV communication interruption, Issues such as failure to complete specified tasks

Inactive Publication Date: 2020-11-13
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 and avoid obstacles flexibly, which will easily cause communication interruption between UAVs, resulting in specified task could not be completed

Method used

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  • A control algorithm for multi-UAV cooperative formation obstacle avoidance
  • A control algorithm for multi-UAV cooperative formation obstacle avoidance
  • A control algorithm for multi-UAV cooperative formation obstacle avoidance

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Experimental program
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Embodiment 1

[0055] Embodiment 1, the present invention is a control algorithm for multi-UAV cooperative formation obstacle avoidance, which mainly includes steps:

[0056] (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.

[0057] 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.

[0058] (2) Construct a multi-UAV formation communicati...

Embodiment 2

[0117] In embodiment 2, a simulation experiment is carried out to verify the control algorithm of the present invention.

[0118] 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:

[0119] Table 1. The initial state of each UAV

[0120]

[0121] Table 2. Physical limitations of drones

[0122]

[0123] The simulation parameters are as follows:

[0124] 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 present invention is a control algorithm for multi-UAV cooperative formation obstacle avoidance, comprising the following steps: (1) When the UAV formation performs a flight mission, the position and speed of the UAV and the airspace obstacle are detected by an airborne sensor information, and abstract the obstacles in the flight space into a sphere; (2) Construct the UAV formation communication topology according to the position information of each UAV, and use the distributed transmission method to realize the communication between neighboring UAVs in the formation. (3) Establishing the UAV dynamics model; (4) When an obstacle is detected, determine the safe distance for the UAV to avoid obstacles, and judge the distance between any UAV in the UAV formation and the obstacle. Whether the spacing of the distance meets the requirements of the safety distance, if not, adjust the formation formation and avoid obstacles through the virtual force strategy. The algorithm is operable and simple, and can realize the cooperative formation of multiple UAVs and avoid obstacles more flexibly, which is of great significance to the reality of multi-cooperative operations.

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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Patent Type & Authority Patents(China)
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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