Check patentability & draft patents in minutes with Patsnap Eureka AI!

Time-varying formation control method and system for a drone-unmanned vehicle swarm model

A control method and technology of unmanned aerial vehicles, which are applied in control/regulation systems, non-electric variable control, vehicle position/route/altitude control, etc., can solve problems such as differences in state dimensions and difficulty in direct application of formation control methods, and achieve coping Effects of rapid change, good scalability and self-organization, strong flexibility and adaptability

Active Publication Date: 2020-04-03
BEIHANG UNIV
View PDF7 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

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
  • Time-varying formation control method and system for a drone-unmanned vehicle swarm model
  • Time-varying formation control method and system for a drone-unmanned vehicle swarm model
  • Time-varying formation control method and system for a drone-unmanned vehicle swarm model

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach

[0084] The effectiveness of the method proposed by the present invention is verified below through a specific example of formation control of UAV-unmanned vehicle heterogeneous cluster system. The specific implementation steps of this example are as follows:

[0085] (1) UAV-UAV heterogeneous cluster system setup

[0086] Consider a heterogeneous swarm system composed of 2 UAVs (numbered 1, 2) and 2 unmanned vehicles (numbered 3, 4), and its topology is as follows figure 2 shown. UAVs and unmanned vehicles perform air-ground collaborative reconnaissance missions in the form of rotating circular formations. The two UAVs fly at a fixed altitude, so in this example, only the formation tracking control problem in the XY plane should be considered. Set the model parameters for the virtual leader to x 0 (0)=[0,0.3,0,0.2] T , then the virtual leader will move in a straight line at a uniform speed in the XY plane.

[0087] (2) Expected time-varying formation design

[0088...

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 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...

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
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 任章化永朝董希旺李清东
Owner BEIHANG UNIV
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

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

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com