Unmanned aerial vehicle cluster collaborative obstacle avoidance-reconstruction processing method

Abstract

The invention belongs to the field of unmanned aerial vehicle cooperative information processing technologies and discloses an unmanned aerial vehicle cluster collaborative obstacle avoidance-reconstruction processing method. According to the method, the force constructing rules of a traditional AP method are improved; the unmanned aerial vehicle cluster of a mass point model is designed to generate the control law of standard configurations; the magnitude and direction of a control force are controlled through bijection transformation; and a general cluster configuration is generated, and thereconstruction control of the configuration is realized. The improved AP method has the advantages of strong global optimization capacity, low requirements for optimization problems, parallel mechanism, and the like. The algorithm of the invention has higher flexibility. Each unmanned aerial vehicle only needs to sense adjacent environment information to generate its own virtual force, has the characteristics of easiness in expansibility and distributedness; and when the improved algorithm is adopted to plan routes, a calculation process can be simplified, a judgment cycle can be shortened, and therefore, the cost of the implementation of the method of the invention can be decreased.

Description

Technical field [0001] The invention belongs to the technical field of UAV cooperative information processing, and in particular relates to a UAV cluster cooperative obstacle avoidance-reconstruction processing method. Background technique [0002] At present, the existing technology commonly used in the industry is as follows: [0003] The UAV system is developing towards the direction of intelligence and autonomy. Mission planning is an important part of the autonomous control of UAVs. With the increasing complexity of the combat environment and the increasing diversity of combat missions, the possibility of UAVs performing tasks alone is becoming less and less. How to support multiple UAVs in coordinated operations through effective control strategies and achieve the best overall combat effectiveness is a challenge. Questions of great theoretical value and practical significance. Under the trend of increasing autonomous capabilities of UAVs, UAV collaborative obstacle avoidan...

AI Technical Summary

Problems solved by technology

[0009] To sum up, the problems existing in the existing technology are: UAV swarms need to transform in different configurations when performing specific tasks, and the problem of obstacle avoidance and reconstruction

The RRT algorithm can quickly search unknown areas and find a better feasible route in complex obstacles or threats, but the randomness is strong

Images