Formation control method for unmanned aerial vehicles

Abstract

The invention discloses a formation control method for unmanned aerial vehicles. The method comprises a formation generation step. The formation generation method comprises the following step that allthe unmanned aerial vehicles carry out formation change at appointed time after receiving information of a target reference formation, wherein firstly, all the unmanned aerial vehicles fly towards target formation positions closest to the unmanned aerial vehicles under the guidance of approach operation, and meanwhile, all the members in the formation obtain the positions and speeds of other surrounding unmanned aerial vehicles on the basis of the communication of an on-board detection system or a local area network within a limited detection range and process and utilize the information; secondly, the unmanned aerial vehicles generate respective target formation positions under virtual allocation operation and fly towards the respective target formation positions; finally, the unmanned aerial vehicles determine final target formation positions under the guidance of self-adaptive adjustment operation and fly towards the final target formation positions, so that the unmanned aerial vehicle cluster forms the target reference formation. By means of the method, the unmanned aerial vehicle formation members can form any formation without knowing global information, asynchronous triggering can be achieved, collisions can be avoided, and the formation control can also be implemented by memory even if the current communication is interrupted for a short time.

Description

technical field [0001] The invention relates to the technical field of control methods for unmanned aerial vehicles, in particular to a formation control method for unmanned aerial vehicles. Background technique [0002] UAV formation belongs to a distributed system with large number of members, flexibility, low cost and high survival rate. It maintains a certain formation when moving and performing tasks, which can significantly save energy, improve system work efficiency, and expand system capabilities, thereby extending the flight distance of the formation; the existing technology points out that the circular formation can effectively improve the detection of resources in fixed areas Efficiency; vertical formation has incomparable advantages in crossing valleys, bombing and cloud interception, and horizontal formation has incomparable advantages in wide frontal search; the general formation control in the prior art is "herringbone" formation and "ring" formation, The for...

AI Technical Summary

Problems solved by technology

It maintains a certain formation when moving and performing tasks, which can significantly save energy, improve system work efficiency, and expand system capabilities, thereby extending the flight distance of the formation; the existing technology points out that the circular formation can effectively improve the detection of resources in fixed areas Efficiency; vertical formation has incomparable advantages in crossing valleys, bombing and cloud interception, and horizontal formation has incomparable advantages in wide frontal search; the general formation control in the prior art is "herringbone" formation and "ring" formation, The formation is single; although there is a control method that can generate any formation in the prior art, in this method, the individual needs to know the overall information of the formation to implement control. When a member is damaged and is not known by other members in time The formation has no automatic adjustment ability; in addition, although another method proposed in the prior art conforms to the characteristics of distributed control and can generate any given formation, it needs to specify the target position of each aircraft before the transformation, and does not consider The optimization of the control process and the collision problem, this method also proposes to use the short-term communication before the formation change to obtain the information of the adjacent individuals for motion control, which causes a waste of historical information to a certain extent

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