Artificial potential field method-based quad-rotor unmanned aerial vehicle cluster control method and device therefor

A technology of quadrotor UAV and artificial potential field method, which is applied in the direction of non-electric variable control, control/regulation system, three-dimensional position/channel control, etc. low level problem

Active Publication Date: 2018-12-21
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
View PDF4 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The above-mentioned existing control methods are mainly used to control fixed-wing swarms. For quadrotor UAVs with high flexibility and hoverability, the control accuracy of the above-mentioned control methods is low, and it is difficult to realize swarm control of quadrotor UAVs.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Artificial potential field method-based quad-rotor unmanned aerial vehicle cluster control method and device therefor
  • Artificial potential field method-based quad-rotor unmanned aerial vehicle cluster control method and device therefor
  • Artificial potential field method-based quad-rotor unmanned aerial vehicle cluster control method and device therefor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0196] Embodiment 1 controls the simulation test of unmanned aerial vehicle swarm formation

[0197] The number of UAVs is taken as 4, and the parameters of the formula (6) are: a=5, b=0.5, c=0.1, and the preset formation structure is as follows Figure 4 shown.

[0198] The position of the target point is taken as: a(30,50,10), b(30,50,40), c(30,10,40), d(30,10,10), the unit is m, and no one is known The preset formation of UAVs is a rectangle, and the speed of each UAV satisfies the speed constraint of formula (2). Assume the maximum velocity V of the drone max =30m / s, the simulation results of UAV swarm formation control are as follows Figure 5 shown.

[0199] The formation used in this embodiment 1 includes 4 quadrotor UAVs, and the initial positions of the 4 quadrotor UAVs are randomly distributed, by Figure 5 It can be seen that after moving to the final position, a preset rectangular formation is formed (the speed of each UAV is 0 at this time), and the relative ...

Embodiment 2

[0200] Embodiment 2 Controlling the UAV swarm towards the target motion simulation experiment

[0201] In the simulation experiment, in this embodiment 2, 6 quadrotor UAVs and 1 virtual leader are used to form a cluster formation. The preset formation of the UAV cluster is as follows: Image 6 As shown, the 6 light-colored squares represent the UAV nodes, and the dark-colored squares represent the virtual leader. The 6 quadrotor UAVs take the virtual leader as the top angle and form an equilateral triangle formation configuration on one side of the virtual leader. .

[0202] In the simulation test of Example 2, first, set the speed parameter a to 5, and the virtual point position to (35,35,30), unit: m, which is also the target point position. In the drone cluster configuration, 6 drones are in the same plane, and the plane normal vector of the final position of the drone is taken as

[0203] The motion track diagram of UAV cluster in three-dimensional space is as follows:...

Embodiment 3

[0204] Embodiment 3 Control UAV cluster obstacle avoidance simulation experiment

[0205] In this embodiment, the aforementioned obstacle avoidance algorithm is used to carry out the UAV cluster obstacle avoidance simulation. In the simulation experiment, the number of UAV members is 8, and the formation configuration is as follows: Figure 8 As shown, the square represents the UAV, and the circle represents the center position of the UAV cluster.

[0206] For the convenience of observation, the position of the UAV cluster is projected onto the x-y plane for analysis. The position of the cluster target is as follows: Figure 9 As shown, when the UAV swarm moves to the target position, it will form a square configuration, and the target position of its center point is taken as (60, 60, 60) (unit: m).

[0207] Then set up the obstacle position. In this paper, two spherical obstacles are placed with radii of 3 and 4 respectively, and their projections on the x-y plane are as fo...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an artificial potential field method-based quad-rotor unmanned aerial vehicle cluster control method and a device therefor. The method comprises the following steps of (S100) forming a quad-rotor unmanned aerial vehicle cluster by M quad-rotor unmanned aerial vehicles, carrying out formation and configuration according to the quad-rotor unmanned aerial vehicle cluster, setting desired positions and velocity vectors of various internal members of the cluster and establishing a kinematics equation of the ith internal member; (S200) building a velocity control function ofthe ith internal member on the basis of an artificial potential field method according to the desired positions, the velocity vectors, the kinematics equations and the movement type; and (S300) controlling the internal members to carry out the movement type of movement by adopting the velocity control functions. On one hand, the control method has the effects of being easy to implement, good in real-time capability and good in formation control effect and is suitable for large-scale quad-rotor unmanned aerial vehicle cluster control, and formation, movement toward a target and obstacle avoidance of the cluster can be achieved; and on the other hand, the invention further provides a device for the method.

Description

technical field [0001] The invention relates to a quadrotor unmanned aerial vehicle cluster control method and device thereof based on an artificial potential field method, belonging to the field of control. Background technique [0002] With the continuous expansion of UAV application fields and more and more mission types, the application style of UAVs is gradually developing from a single platform to a multi-platform "cluster". UAV swarms can not only form a coordinated and orderly collective movement mode, but also respond to external stimuli quickly and consistently. Strong adaptability. [0003] A quadrotor UAV is a special unmanned rotorcraft with four rotor shafts, which are rotated by electric motors on each shaft to drive the rotors to generate lift. The collective pitch of the rotors is fixed, and by changing the relative rotational speed between different rotors, the size of the single-axis propulsion can be changed, thereby controlling the trajectory of the ai...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 杨雪榕吕永申姚静波辛朝军陈超单上求
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap