Unmanned aerial vehicle-unmanned vehicle cluster model time-varying formation control method and unmanned aerial vehicle-unmanned vehicle cluster model time-varying formation control system

Abstract

The invention discloses an unmanned aerial vehicle-unmanned vehicle cluster model time-varying formation control method and an unmanned aerial vehicle-unmanned vehicle cluster model time-varying formation control system. The method comprises the following steps: building a dynamical model of an unmanned aerial vehicle and the dynamical model of an unmanned vehicle; according to the dynamical modelof the unmanned aerial vehicle and the dynamical model of the unmanned vehicle, using an internal and external loop control architecture and building an unmanned aerial vehicle-unmanned vehicle cluster model; acquiring desired motion trail of the unmanned aerial vehicle-unmanned vehicle cluster model; according to positions of the unmanned aerial vehicle and the unmanned vehicle in the unmanned aerial vehicle-unmanned vehicle cluster model, describing formation configuration of the unmanned aerial vehicle-unmanned vehicle cluster model; according to the desired motion trail and the formationconfiguration, constructing a distributed time-varying tracking controller; and controlling the time-varying formation of the unmanned aerial vehicle-unmanned vehicle cluster model through the distributed time-varying tracking controller. According to the method and the system provided by the invention, the distributed time-varying tracking controller is designed, and distributed self-organizing formation motion of a heterogeneous robot cluster system is realized.

Description

technical field [0001] The invention relates to the field of multi-robot collaborative control, in particular to a time-varying formation control method and system for a drone-unmanned vehicle cluster model. Background technique [0002] Formation control is one of the important topics in the field of collaborative control of multi-robot systems. By adjusting the relative position relationship between robots, the multi-robot system can form a specific formation formation, which can be used for tasks including cooperative reconnaissance, detection, and round-up. Create favorable conditions and provide technical support. Considering the variability of the external situation and task requirements, the formation formation of multi-robot systems is often not fixed, and needs to be able to be dynamically adjusted in real time according to actual needs, that is, time-varying formation control is required. [0003] Unmanned aerial vehicles and unmanned vehicles are the most represe...

AI Technical Summary

Problems solved by technology

Since UAVs and unmanned vehicles have different dynamic models and their state dimensions are different, the existing formation control methods for homogeneous swarm systems are difficult to apply directly

In addition, most of the existing methods can only achieve time-invariant formation configurations. In practical applications, in order to cope with complex external environments and changes in tasks, multi-robot systems need to be able to dynamically adjust their own formation formations in real time. Formation is more practical and general

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