UAV swarm area coverage method and device based on virtual potential field function

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...

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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 not consider the continuous coverage problem under the condition of limited individual detection range and communication range. The area covered is also usually a regular pattern, which cannot meet the needs of practical applications

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