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An automatic control method for interconnected and cooperative motion for unmanned aerial vehicle swarms

A drone and cluster technology, applied in special data processing applications, design optimization/simulation, etc., can solve the problems that drone clusters cannot realize automatic cooperative control, and achieve distributed adaptive coordinated control and distributed collaboration The effect of close interaction and the emergence of swarm intelligence

Active Publication Date: 2020-11-03
ANHUI AGRICULTURAL UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the defect that the unmanned aerial vehicle cluster cannot realize automatic cooperative control in the prior art, and to provide an automatic control method for interconnected cooperative movement of the unmanned aerial vehicle cluster to solve the above problems

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  • An automatic control method for interconnected and cooperative motion for unmanned aerial vehicle swarms
  • An automatic control method for interconnected and cooperative motion for unmanned aerial vehicle swarms
  • An automatic control method for interconnected and cooperative motion for unmanned aerial vehicle swarms

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Embodiment Construction

[0067] In order to have a further understanding and understanding of the structural features of the present invention and the achieved effects, the preferred embodiments and accompanying drawings are used for a detailed description, as follows:

[0068] The present invention proposes a "control model based on the evolution of plant population distribution" to determine the global change of the UAV cluster, construct a group structure in which the parent UAV carries multiple offspring individual UAVs, and design the parent UAV and the child UAV respectively. Human-machine motion planning function. The parent drone macroscopically guides the sub-drone to carry out the spatial layout and allocates the free movement space of the sub-drone. The sub-drone explores the information of diseases and pests in their respective free movement spaces and communicates with each other, and at the same time gathers and reports the information to the parent. drone. At the same time, the UAV clu...

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Abstract

The invention relates to an automatic control method for interconnected cooperative motion of an unmanned aerial vehicle cluster, which solves the defect that the unmanned aerial vehicle cluster can not realize the automatic cooperative control of the cluster compared with the prior art. The invention comprises the following steps: initializing an unmanned aerial vehicle cluster; spatial distribution of individual UAV; motion planning and layout of individual UAV; searching for control motion in free motion space for a sub-UAV. The invention applies the natural plant species propagation mode and the strategy of population distribution and evolution to the unmanned aerial vehicle (UAV) cluster interconnection and cooperation control, has the characteristics of close distributed cooperativeinteraction and obvious swarm intelligence emergence, can solve the limitation of the existing coordinated control scheme on the UAV cluster scale, and realizes the distributed adaptive coordinated control.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle swarm control, in particular to an automatic control method for interconnected cooperative movement of unmanned aerial vehicle swarms. Background technique [0002] The current UAV swarm research has made great progress, and to some extent, it has been able to cooperate to complete some simple tasks, such as formation, combination deformation, etc. However, for drone swarm collaboration, intelligent control, and entity applications, there are still some unresolved problems: how to effectively use the behavioral characteristics and behavioral functions that the individual does not have through the simple individual behavior rules to emerge is An important problem that needs to be studied and solved in swarm robots. [0003] Behavior emergence has the characteristics of randomness, nonlinearity, and time-varying. The mechanism of emergence, the behavior characteristics of emergence ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20
CPCG06F30/20
Inventor 张晓明汪鑫禹张友华
Owner ANHUI AGRICULTURAL UNIVERSITY