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A control strategy formulation method for multi-UAV formation flight obstacle avoidance

A formation flight and control strategy technology, applied in control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve cumbersome problems and achieve the effect of improving safety and mission success rate

Active Publication Date: 2021-08-31
CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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Problems solved by technology

These advanced algorithms are theoretically feasible, but they are too cumbersome to be used in engineering practice

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  • A control strategy formulation method for multi-UAV formation flight obstacle avoidance
  • A control strategy formulation method for multi-UAV formation flight obstacle avoidance
  • A control strategy formulation method for multi-UAV formation flight obstacle avoidance

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Embodiment Construction

[0035] The specific implementation manner of the present invention will be described in detail in conjunction with the summary of the invention and the accompanying drawings.

[0036] Step 1. Introduce the repulsion field function U rep (q), through the repulsion field function U rep The size of (q) determines the movement speed and direction of the UAVs after they meet.

[0037] In a small-scale formation, through reasonable task allocation and path planning, it is rare for track points to overlap. Of course, there will also be dual or three-aircraft path overlaps that require obstacle avoidance strategies to complete the task. The repulsive field function is introduced here, and the speed and direction of the drone's movement after encountering are determined by the size of the repulsive field function.

[0038] The traditional repulsion field function does not take into account the relative distance between the target point and the current position of the UAV, and has the...

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Abstract

The invention discloses a multi-unmanned aerial vehicle formation flight obstacle avoidance control strategy formulation method, comprising the following steps: introducing a repulsive force field function, using the size of the repulsive force field function to determine the movement speed and direction of the unmanned aerial vehicles after they meet, and determine the meeting point The number of UAVs, the direction and sequence of UAV encounters, and the relative position of each UAV; according to the various situations of two-aircraft, three-aircraft and multi-aircraft encounters, UAV obstacle avoidance control strategies are formulated. The improved repulsion field function of the present invention introduces the relative distance between the UAV and the target point of the trigger condition, which ensures that the UAV can accurately fly towards the target point after triggering the obstacle avoidance condition, thereby ensuring Does not affect the routes of other drones, causing the trigger condition again. The dual-machine, three-machine and multi-machine obstacle avoidance strategies are simple and feasible in engineering practice.

Description

technical field [0001] The invention belongs to the technical field of UAV route planning, and in particular relates to a multi-UAV formation flight obstacle avoidance control strategy, which solves the problem of UAV formation obstacle avoidance and path re-planning after obstacle avoidance in a dynamic environment. Background technique [0002] UAV formation obstacle avoidance and path replanning after obstacle avoidance in a dynamic environment are hot spots and difficulties in the field of swarm technology. Collisions between UAVs in motion will cause great losses. Therefore, real-time obstacle avoidance algorithms This is especially important for drones flying in formation. Unlike offline obstacle avoidance, where the coordinates of obstacles are known in advance and path planning is performed in advance, real-time obstacle avoidance is particularly challenging for obstacle avoidance strategies. Currently popular algorithms include artificial potential field method, ta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 魏春燕丁勇飞刘国梁金古烃
Owner CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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