Multi-drone cluster navigation method

A multi-UAV and navigation method technology, applied in the field of UAV, can solve the problem that multi-UAV clusters cannot navigate, etc.

Inactive Publication Date: 2019-03-08
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above technical problems, the main purpose of the present invention is to provide a multi-UAV cluster navigation method to solve the problem in the prior art that multi-UAV clusters cannot navigate in complex environments

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Embodiment Construction

[0067] The implementation of the present invention will be described in detail below with reference to the accompanying drawings and embodiments, so as to fully understand how the present invention applies technical means to solve technical problems and achieve corresponding technical effects and implement them accordingly. The embodiments of the application and the features in the embodiments can be combined with each other under the premise of no conflict, and the technical solutions formed are all within the protection scope of the present invention.

[0068] Meanwhile, in the following description, many specific details are set forth for the purpose of explanation to provide a thorough understanding of the embodiments of the present invention. However, it is obvious to those skilled in the art that the present invention may be implemented without the specific details or the specific manner described herein.

[0069] The present invention will be further explained in conjunction...

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Abstract

The invention discloses a multi-drone cluster navigation method. The method comprises steps that an interaction protocol among drones is determined; according to the interaction protocol, a flight status of each drone of the drone cluster is determined by utilizing sensing devices and/or positioning devices of the drones; control vectors of the drones are determined; a revenue function is determined according to the flight status of the drones; based on the flight status, the control vectors and the revenue function, the learning algorithm is utilized to train a neural network model centrallyto obtain a control function used for describing the mapping relationship from the flight status to the control strategy of the drones, and the control function is shared among the drones of the multi-drone cluster; based on the control function, a corresponding control command is generated by each drone according to its own flight status to implement autonomous cluster navigation.

Description

Technical field [0001] The invention belongs to the field of drones, and particularly relates to a multi-drone cluster navigation method. Background technique [0002] The wide application of small drones in the military and civilian fields has led to the rapid development of intelligent applications based on small drones, such as the use of drones for reconnaissance, surveillance, aerial photography, and delivery. The application of multiple drones in modern warfare is an important development trend. In practical applications, a group of UAVs are often required to fly in clusters from a starting point to a target location at the same time, and then perform specific tasks. Therefore, the ability to realize autonomous cluster navigation of multiple drones in large-scale and complex environments is one of the key technologies for the application of drones on the battlefield. [0003] At present, the methods to achieve autonomous clusters of multiple drones are mainly divided into t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王剑王超
Owner TSINGHUA UNIV
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