Path planning method for multi-region hierarchical UAV formation based on distributed control

Abstract

The invention discloses a multi-region hierarchical UAV formation path planning method based on distributed control, which divides the UAV into virtual leader aircraft and member aircraft to establish a UAV multi-region multi-level control formation network framework; for each Carry out formation formation in a described area: set a constraint function, form a formation corresponding to the constraint function for all drone formations in each described area based on the constraint function; perform formation formation in all the described areas: A time-varying function of the distance between regions is set, and a distributed control strategy is used to establish a communication mechanism between adjacent regions to realize the formation control of the region; the determination coefficient of the obstacle repulsion potential field is designed by using the collision cone collision detection condition, Eliminate the unfavorable influence on the UAV formation caused by the potential field of irrelevant obstacles, ensure that the UAV is formed under the control of the controller, and speed up the formation path planning speed; the invention can speed up the formation planning speed and realize the UAV Multi-area multi-level formation control.

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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