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Formation and control method of a large-scale micro UAV

A UAV, large-scale technology, applied in the field of UAV formation, can solve the problems of channel delay and inaccurate positioning, achieve the effect of tolerating packet loss, overcoming precise positioning information, and good scalability

Active Publication Date: 2020-09-29
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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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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  • Formation and control method of a large-scale micro UAV
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  • Formation and control method of a large-scale micro UAV

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Embodiment Construction

[0033] In order to facilitate those skilled in the art to understand the technical content of the present invention, the content of the present invention will be further explained below in conjunction with the accompanying drawings.

[0034] The large-scale micro-UAV formation and control method of the present invention utilizes two independent communication channels to obtain the state information of the adjacent and team leader UAVs, and uses the balance of repulsive force and attractive force to establish and maintain the UAV fleet shape. Such as figure 1 As shown, the UAV represented by the white-filled box in the center of the formation is the leader of the team, and the UAVs represented by the other black-filled boxes fly with the leader of the team. The control and transformation of the formation can be realized by using the leader of the team, including The following three technologies:

[0035] 1. UAV formation establishment based on force balance:

[0036] Each UA...

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Abstract

The invention discloses a large-scale micro-UAV formation and control method, aiming at the shortcomings of the existing formation technology relying on accurate positioning information; the invention uses two independent communication channels to obtain neighbor UAVs and team leader UAVs respectively The state information and serial number information of the system, so as to obtain the distance between adjacent UAVs and the distance between UAVs and the team leader, and at the same time introduce the repulsive force between adjacent UAVs and the force generated by the team leader UAV. Global attraction, by adjusting the position of the drone, so that the repulsion and attraction of each drone are balanced, so as to establish a stable formation formation; and the ground commander can arbitrarily designate the team leader, the team leader has Sufficient leadership freedom; control overhead is linearly proportional to the number of micro-drones, the method of the invention has good scalability, and tolerates packet loss, channel delay, and positioning inaccuracy.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李龙江周红梅毛玉明
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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