Multiple-unmanned-aerial-vehicle coordinated formation control method in time delay environment

Abstract

The invention provides a multiple-unmanned-aerial-vehicle coordinated formation control method in a time delay environment. The method comprises the following steps of 1, respectively designing formation control algorithms in different time delay environments for aiming at different time delay types, wherein the time delay types comprise a fixed constant time delay and a time-varying time delay; 2, constructing a communication topology, and realizing information interaction between unmanned aerial vehicles through the communication topology; and (3), according to the time delay types in communication, keeping the formation pattern by means of a corresponding formation control algorithm. Communication is performed through constructing the fixed topology which comprises a directed spanning tree, and information exchange between the unmanned aerial vehicles is realized. Furthermore a synchronous coupling method is utilized for designing the formation control algorithms in two different time delay conditions, thereby obtaining the control input of the current unmanned aerial vehicle, and realizing a purpose of synchronous state matching of the unmanned aerial vehicles in the formation.So that when an interference of the fixed-constant time delay or the time-varying time delay exists in the communication between the unmanned aerial vehicles, and convergence to the preset formationpattern is realized.

Description

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AI Technical Summary

Benefits of technology

This technology allows dronies communicate through an established structure called a directspatial network (DSN). Each robot uses its own unique way to connect itself to other robots within this space without being influenced from each others' movements. By controlling how fast they are going down their paths based on certain commands sent over these networks, there will be no impact upon any surrounding objects like humans or animals. Additionally, if some obstacles block up one path temporarily, another robot may take care of them better than before moving around again until all three have been cleared out. Overall, this technology helps create more efficient navigation systems while maintaining safety standards.

Problems solved by technology

This patented describes how unmanned aircraft systems use shared data for better decision making during their formation process. These systems require precise location determination with multiple sensors while also requiring continuous updates about sensor locations over long periods of time. Delay issues affect both the accuracy and reliability of this update signal. Existing techniques only provide fixed values or delayed versions of signals without considering any interference caused by transmission delays between different sources.

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