Multi-area classified unmanned aerial vehicle formation route planning method based on distributed control

Abstract

The invention discloses a multi-area classified unmanned aerial vehicle formation route planning method based on distributed control. The multi-area classified unmanned aerial vehicle formation routeplanning method comprises the steps that unmanned aerial vehicles are distributed into virtual leading vehicles and member vehicles to build an unmanned aerial vehicle multi-area classified control formation network frame; formation is conducted on each area; a constraint function is set, and based on the constraint function, all unmanned aerial vehicles in each area are subjected to formation toform a formation shape corresponding to the constraint function; shape formation is conducted on all the areas; an interarea distance time varying function is set, and a distributed control strategy is adopted to build communication mechanisms between adjacent areas, so that the shape formation of the areas is controlled; by utilizing a collision cone collision detection condition, an obstacle repulsion potential field determination coefficient is designed, the adverse effect on the unmanned aerial vehicle formation generated by the potential field of irrelevant obstacles is eliminated, it isguaranteed that the unmanned aerial vehicles are subjected to formation under the control of a controller, and thus the formation route planning speed is increased; the multi-area classified unmannedaerial vehicle formation route planning method based on distributed control can increase the formation planning speed and achieve multi-area classified formation control of the unmanned aerial vehicles.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle formation control, and in particular relates to a multi-region hierarchical unmanned aerial vehicle formation path planning method based on distributed control. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an abbreviation for a power-driven, unmanned, reusable aircraft. Due to its low cost, light weight, strong adaptability and flexible maneuverability, drones are widely used in various fields of military and national economy for terrain and public utility inspection, search and rescue, disaster monitoring, aerial surveying and mapping, traffic monitoring and scouting missions. Although UAVs have many advantages, there are still many problems that cannot be solved by a single machine. In response to these problems, after years of hard work, researchers have proposed a formation flight method through the observation and analysis of biological group phenomena. Co...

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Problems solved by technology

[0005] Aiming at the problem in the prior art that the flexibility and precision of the UAV formation path are difficult to control due to the increase in the UAV formation scale and the uncertain flight environment, the present invention proposes a multi-region classification based on distributed control UAV formation path planning method, the specific technical scheme of the method is as follows:

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