Unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions

A technology of area coverage and virtual potential field, applied in three-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problems that cannot meet the needs of the application, and do not consider the problem of continuous coverage. Achieve the effects of small amount of control calculation, less amount of information processing, and various shapes of coverage areas

Active Publication Date: 2019-03-12
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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AI Technical Summary

Problems solved by technology

[0009] However, the current literature based on optimization algorithms does not study how to coordinate and control each mobile node so that it can move to the target position, and the scheme that considers node mobility control does

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  • Unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions
  • Unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions
  • Unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions

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Embodiment Construction

[0091] The present application is described in detail below in conjunction with the examples, but the present application is not limited to these examples.

[0092] see figure 1 , the UAV cluster area coverage method based on the virtual potential field function provided by the application, comprising the following steps:

[0093] Step S100: According to the given convex polygon target area vertex coordinates {P 1 (x 1 ,y 1 ),P 2 (x 2 ,y 2 ),...,P n (x n ,y n )} Calculate the geometric center coordinates P of the target area 0 (x 0 ,y 0 ), and then calculate the virtual attraction function F of the geometric center to the drone according to the coordinates of the geometric center of the target area and the measured value of the absolute position of the drone O ;

[0094] Step S200: Calculate the virtual repulsion function F of the area boundary to the drone according to the coordinates of the vertex of the target area and the measured value of the absolute positio...

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Abstract

The invention discloses an unmanned aerial vehicle cluster area covering method and device based on virtual potential field functions. The method comprises the following steps that firstly, target area geometrical center coordinates are calculated according to convex polygonal target area vertex coordinates; then, according to the area vertex coordinates, the geometrical center coordinates, unmanned aerial vehicle absolute position measurement values, and relative position measurement values of unmanned aerial vehicles relative to nearby unmanned aerial vehicles, virtual attraction and repulsion functions are calculated; finally, by judging whether the unmanned aerial vehicles enter a target area or not, decision-making unmanned aerial vehicles adopt different movement rules, and it is achieved that unmanned aerial vehicle clusters continuously cover the area. By adopting the method, the unmanned aerial vehicle clusters can continuously cover any convex polygonal area, and unmanned aerial vehicles are uniformly distributed in the area. Compared with a traditional area coverage method, the method has the advantages of small calculation amount control, little information processing amount and diversified coverage area shapes. In addition, the invention also provides a device applying the method.

Description

technical field [0001] The present application relates to a method and device for covering an unmanned aerial vehicle swarm area based on a virtual potential field function, and belongs to the technical field of unmanned aerial vehicle swarm control. Background technique [0002] UAV cluster area coverage refers to the use of multiple UAVs to cooperate with each other under the premise that the detection capability of each UAV in the cluster can cover a certain area, so that each point in the target area is covered by at least one UAV detection range coverage. Due to the robustness, scale elasticity, and flexibility of the swarm system, the swarm area covers a wide range and is used in search and rescue, transportation construction, terrain search, map drawing, formation, and sensor network deployment. [0003] Based on the above application scenarios, it can be found that the application scenario of cluster area coverage has the following characteristics: 1) UAV nodes need...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 杨雅君贾成成杨雪榕潘升东胡敏吕永申
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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