Aggregated-distributed control method of multi-unmanned-aerial-vehicle task area

Abstract

The invention belongs to the technical field of the multi-unmanned-aerial-vehicle cooperative control, and specifically relates to an aggregated-distributed control method of multi-unmanned-aerial-vehicle task area. The method comprises the following steps: dividing aggregation process into loose formation aggregation and tight formation aggregation, wherein a traditional aggregation task target is accomplished at the loose formation aggregation stage through a loose formation aggregation control strategy based on a first-order consistency algorithm; the transition to the tight formation fromthe loose formation is accomplished at the tight formation aggregation stage through the tight formation aggregation control strategy based on a second-order consistency algorithm. Through the methoddisclosed by the invention, a winding waiting strategy is imported into the first-order consistency algorithm, an aggregation control strategy of a virtual lead plane is imported into the second-orderconsistency algorithm; and the state convergency of the unmanned aerial vehicle formation is realized by controlling the movement of the virtual lead plane, and finally the speeds and course angles of various unmanned aerial vehicles can realize consistency.

Description

technical field [0001] The invention belongs to the technical field of multi-UAV cooperative control, and in particular relates to a multi-UAV mission area assembly distributed control method. Background technique [0002] Due to the limited combat capability of a single UAV, multi-aircraft coordination will become an important combat form of UAVs in the future, and the assembly of mission areas is the basis for realizing multi-aircraft coordinated operations. The existing assembly control methods mainly use the simultaneous arrival at the assembly point as the index, and rarely control the terminal state of the UAVs when they arrive at the assembly point. During the assembly, the states of each UAV are quite different, and the speed and heading angle cannot be converged. Consistent, not conducive to the implementation of subsequent tasks. Contents of the invention [0003] The purpose of the present invention is to provide a multi-UAV mission area assembly distributed co...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-UAV mission area assembly distributed control method to solve the technical problem that the speed and heading angle of the multi-UAVs cannot be converged to reach a consensus when the multi-UAVs reach the assembly point in the current method

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