Drone group anti-collision control method and device and computer readable storage medium

A control method and unmanned aerial vehicle technology, applied in the field of computer-readable storage media and unmanned aerial vehicle swarm anti-collision control, can solve the problems of large amount of relative position calculations, unsuitable for formation tasks, etc., and achieve the effect of simple control method

Pending Publication Date: 2019-05-28
SHENZHEN SIMTOO INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to propose a UAV swarm anti-collision control method, device and computer-readable storage medium, aiming to solve the problem that the calculation amount of relative position in the prior art is large, and it is not suitable for performing complex formation tasks. question

Method used

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  • Drone group anti-collision control method and device and computer readable storage medium
  • Drone group anti-collision control method and device and computer readable storage medium
  • Drone group anti-collision control method and device and computer readable storage medium

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Embodiment 1

[0043] like figure 1 As shown, Embodiment 1 of the present invention provides a method for anti-collision control of UAV swarms, the method comprising:

[0044] S101, counting the current space coordinates and flight speed of each drone in the drone group;

[0045] The current space coordinates and flight speed of each flying UAV in the UAV group are counted in the same coordinate system, and the flight direction and flight speed can be obtained through the flight speed.

[0046] S102. Combining the current space coordinates and flight speed of each drone to determine whether a collision event will occur at the first preset time in the future;

[0047] The first preset time can be 1 second, 2 seconds or 3 seconds, etc., which can be set according to needs, and is not specifically limited here. If the distance between the drones is small or / and the flying speed is fast, the first time setting is small, and vice versa. It can be understood that, in this step, if it is judged ...

Embodiment 2

[0085] like image 3 As shown, Embodiment 2 of the present invention provides a UAV swarm anti-collision control device, which includes:

[0086] The first statistics module 1 is used to count the current space coordinates and flight speed of each drone in the drone group;

[0087] Judgment module 2, used to combine the current space coordinates and flight speed of each drone to judge whether a collision event will occur at the first preset time in the future;

[0088] The second statistical module 3 is used for statistical analysis of the number of UAV collision events that will occur within the first preset period of time in the future;

[0089] Sorting module 4, is used for sorting the number of times of collision events of each UAV according to the chronological order of collision events;

[0090] The adjustment module 5 is used to adjust the route or speed of the UAV according to the order of the collision times of the UAV.

[0091] The present invention calculates the...

Embodiment 3

[0093] Based on the above embodiments, the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors, to achieve the following steps:

[0094] Count the current space coordinates and flight speed of each drone in the drone group;

[0095] Combining the current space coordinates and flight speed of each drone to judge whether a collision event will occur at the first preset time in the future;

[0096] Statistical analysis of the number of drone collisions that will occur within the first preset period of time in the future;

[0097] Sort the number of collision events for each drone in chronological order;

[0098] According to the sequence of collision times of the drones, the route or speed of the drones is adjusted.

[0099] In a preferred embodiment, in the method for judging whether a collision event will occur at a first pr...

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Abstract

The invention discloses a drone group anti-collision control method and device and a computer readable storage medium. The method includes the steps of counting the current spatial coordinate and flight speed of each drone in a drone group; combining with the current spatial coordinates and flight speed of each drone to judge whether or not a collision event happens later in first preset time; counting and analyzing the frequency of the later collision events of the drones in the first preset time; sequencing the frequency of the collision events of each drone according to the time sequence ofthe collision events; adjusting the route or speed of each drone according to the corresponding sequence of the collision frequency of the drone. The control method is simple and can be used for executing complex formation tasks.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicle control, in particular to an anti-collision control method, device and computer-readable storage medium for an unmanned aerial vehicle swarm. Background technique [0002] In recent years, UAV technology and applications have developed vigorously, but the load and function of a single UAV are limited, and it will be unable to complete the task after dealing with a wide mission area and the unfavorable factors of a single UAV failure. The requirement of cooperation between UAVs to perform more complex tasks has gradually become a trend in UAV research. Multiple UAVs can be formed in a mixed formation to perform different or single tasks to ensure that more complex tasks can be completed. [0003] When the UAV group performs different tasks, different formation choices will not only affect the execution effect of the task, but also have an additional effect on the next task ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 陈辉张晓亮
Owner SHENZHEN SIMTOO INTELLIGENT TECH CO LTD
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