Quick formation control method based on pseudo-distributed unmanned aerial vehicle cluster

A control method and technology of unmanned aerial vehicle, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as energy consumption, and achieve the effects of small communication burden, powerful control method, and simple control method

Inactive Publication Date: 2019-04-02
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the previous role assignment algorithms focused on the optimization of the displacement cost of the robot swarm in the process of formation control, which is not the most concerned optimization goal of the UAV swarm.
This is because even if a drone is not moving, it still needs to expend energy to maintain a hovering state

Method used

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  • Quick formation control method based on pseudo-distributed unmanned aerial vehicle cluster
  • Quick formation control method based on pseudo-distributed unmanned aerial vehicle cluster
  • Quick formation control method based on pseudo-distributed unmanned aerial vehicle cluster

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Embodiment 1

[0051] Such as figure 1 As shown, this embodiment provides a fast formation control method based on a pseudo-distributed UAV cluster, and this method includes the following steps:

[0052] Step 1: The ground station obtains the current pose of each UAV;

[0053] Step 2: The ground station calculates the target pose of each UAV;

[0054] Step 3: The ground station broadcasts the target pose to each drone;

[0055] Step 4: Each drone controls the flight trajectory according to the received target pose.

[0056] In order to collect the typical position of each UAV and reduce the deviation of the collection amount, preferably, the marker balls 1 are symmetrically distributed on the UAV, and the number is 4, 6, or 8.

[0057] In this embodiment, the number of marking balls 1 is 4, and the distribution is as figure 2 Shown.

[0058] figure 1 The diagram also shows a schematic diagram of a pseudo-distributed control architecture adopting a preferred embodiment of the method of the present inv...

Embodiment 2

[0065] Such as image 3 Shown in is a schematic diagram of a fast formation controller according to another preferred embodiment of the present invention. The fast formation controller includes the position controller of the ground station and the attitude controller of each UAV; among them, the position controller is used to calculate the target pose of each UAV. Specifically, the position controller calculates the target attitude of each UAV based on the role assignment algorithm, and the attitude controller calculates the motor control amount of each UAV through the formation consistency algorithm. In order to further optimize the formation control of the drones and prevent the drones from colliding during the traveling process, preferably, the fast formation controller also includes a collision avoidance algorithm.

[0066] The design goal of the role assignment algorithm is to establish a one-to-one correspondence between each individual of an unmanned aerial vehicle cluster...

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Abstract

The invention discloses a quick formation control method based on a pseudo-distributed unmanned aerial vehicle cluster, and relates to the technical field of unmanned aerial vehicle control. The method comprises the following steps that: S1: a ground station obtains the current pose of each unmanned aerial vehicle; S2: the ground station resolves the target pose of each unmanned aerial vehicle; S3: the ground station broadcasts and sends the target pose to each unmanned aerial vehicle; and S4: each unmanned aerial vehicle controls a flight trajectory according to the received target pose. By use of the method, a formation control strategy based on the pseudo-distributed unmanned aerial vehicle cluster is taken as a core to realize the formation control of the unmanned aerial vehicle cluster, flight planning can be implemented, quick convergence can be realized, and the control method is simple and exhibits operability.

Description

Technical field [0001] The invention relates to the technical field of drone control, in particular to a rapid formation control method based on a pseudo-distributed drone cluster. Background technique [0002] In the process of autonomous flight of UAV clusters, a reasonable flight planning strategy is one of the key technologies to ensure the flight performance of UAV clusters. Unlike a single UAV, the UAV cluster flight planning not only requires that the entire cluster must move according to a certain trajectory, but some specific tasks also require a certain degree of order within the cluster. In order to solve this problem, many control schemes of drone clusters adopt the method of uploading planning information at one time before the drone takes off. However, this type of scheme has the problem of poor robustness. Because in the face of an environment with unknown factors, firstly, the pre-planned trajectory is difficult to deal with the unknown problem, and even if the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/104
Inventor 张玮凡许森盛鑫军董伟
Owner SHANGHAI JIAO TONG UNIV
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