A method of UAV swarm formation based on boid model

Abstract

The invention discloses an unmanned aerial vehicle group formation method based on a Boid model, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle group formation method comprises the steps of respectively assembling and configuring quad-rotor unmanned aerial vehicles in the unmanned aerial vehicle group, and sensing state information of other unmanned aerial vehicles in the detection radius range through an information acquisition module; dividing a space area in the detection radius range of the unmanned aerial vehicle I, and judging which area the other unmanned aerial vehicles in the detection radius range are located; when the unmanned aerial vehicle I does not conflict with other unmanned aerial vehicles, and when no other unmanned aerial vehicle exists in the conflict area, adjusting the flight speed and direction of the next time step by the unmanned aerial vehicle I according to the states of the unmanned aerial vehicles in the consistent area and the attraction area; and utilizing the flight speed of each unmanned aerial vehicle at the current time step and the synchronism Va of the direction computer group, and completing autonomous cluster regulation and control when Va is smaller than a threshold value. Control continuity and stability of the unmanned aerial vehicle group in the formation state are ensured, flight safety isensured, the flight cost is reduced, and the operation efficiency of the air traffic system is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles and relates to a swarm formation method, in particular to a Boid model-based unmanned aerial vehicle swarm formation method. Background technique [0002] The English abbreviation of UAV is "UAV", which is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device, or operated completely or intermittently by the on-board computer. Compared with manned aircraft, UAVs have a series of characteristics such as high maneuverability, low cost, and "no casualties". In certain dangerous environments, they can show greater advantages than manned aircraft. At present, UAVs are used in aerial photography, agriculture, plant protection, express delivery, disaster relief, wildlife observation, surveying and mapping, news reporting, power inspection, and film and television shooting, and have played an important role in them. [0003] UAV format...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the high-density and high-complexity situation of air traffic, the present invention provides a UAV swarm formation control method imitating animal swarm behavior, which is simple in design and high in control accuracy, and can also be transplanted to other complex formation control design problems

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