Formation and control method for large-scale miniature unmanned aerial vehicles

Abstract

The invention discloses a formation and control method for large-scale miniature unmanned aerial vehicles. According to the method, the disadvantage that an existing formation technique depends on accurate positioning information is solved. two independent communication channels are utilized for respectively acquiring state information and number information of a neighbor unmanned aerial vehicle and a queue head unmanned aerial vehicle so as to acquire the distance between two adjacent unmanned aerial vehicles and the distance between the unmanned aerial vehicle and the queue head unmanned aerial vehicle, meanwhile, a repelling force between the adjacent unmanned aerial vehicles and an overall suction force produced by the queue head unmanned aerial vehicle are introduced, and the positions of the unmanned aerial vehicles are adjusted, so that the repelling force and the suction force which are borne by each unmanned aerial vehicle are balanced, and a stable formation pattern is established; a queue head can be arbitrarily appointed by a ground commander and has sufficient leading freedom; the control expense is in a linear proportion with the number of the miniature unmanned aerial vehicles; and the method has good extendibility and is capable of tolerating grouping packet loss, channel delay and inaccurate location.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle formation, in particular to a large-scale unmanned aerial vehicle formation and control technology. Background technique [0002] Micro drones are small in size and light in weight, and have the characteristics of concealment, flexibility and portability that are difficult for ordinary aircraft to match. They have broad development prospects in military and civilian fields. In terms of military affairs, micro-UAVs can conduct reconnaissance and surveillance in complex terrain conditions in field operations, and can also be used to reconnaissance the internal conditions of buildings in special environments, monitor, monitor, rescue hostages, and counter-terrorism operations. It can be used on a large scale in war and has important strategic value. In terms of civilian use, it is mainly used for monitoring and investigation of disasters such as floods, forest fires, and earthquakes, as well a...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above technical problems, the present invention proposes a formation and control method of large-scale micro-UAVs, which establishes a stable formation of UAVs based on force balance; and realizes the free switching of team heads, and tolerates packet loss, channel delay and Positioning is inaccurate, overcoming the shortcomings of existing formation technology relying on precise positioning information

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