Ultra-large-scale UAV cluster control system and method for imitating pigeon intelligent behaviors

Abstract

The invention relates to an ultra-large-scale UAV cluster control system and an ultra-large-scale UAV cluster control method for imitating pigeon intelligent behaviors. The ultra-large-scale UAV cluster control system comprises a flight control board, a data communication and processing module and a receiver which are arranged on each UAV. The ultra-large-scale UAV cluster control method comprisesthe steps that: 1, a ground station gives a formation instruction, a target position and formation parameters; 2, each UAV releases its own position information; 3, a pigeon flock hierarchical typology structure and a single pigeon dynamics model is are established, and a controlled superior set Ni of wing planes; 4, a pigeon flock hierarchical mechanism is established, and awing plane ideal control quantity at the next moment is obtained according to controlled superior position information; 5, modeling on the UAVs is carried out, and wing plane autopilot control input is solved; 6, and thestep 2 is returned to until the task is terminated. The ultra-large-scale UAV cluster control system and the ultra-large-scale UAV cluster control method perform information interactive planning and design on the plurality of UAVs, thus enhance the monitoring range, angle, working efficiency and interference resistance required by the single UAV system, and improve the adaptability of the UAVs toa complex dynamic task environment.

Description

technical field [0001] The invention is an ultra-large-scale unmanned aerial vehicle cluster control system and method imitating the intelligent behavior of homing pigeons, and belongs to the technical field of unmanned aerial vehicle control. Background technique [0002] Multi-UAV autonomous cooperative control is to take the multi-UAV cooperative system as the research object, in a highly unstructured and uncertain environment, without or with minimal human intervention, select and cooperate in a centralized or distributed manner to obtain a comparative Independently design the control algorithm of a single UAV to work more effectively. [0003] Collaborative systems mainly have the following characteristics: 1. Highly shared information; 2. Highly integrated tasks; 3. Highly optimized resources. A system with such characteristics will make drone swarms more reliable and safe, and more likely to complete complex tasks under extreme conditions. As a part of the collabora...

AI Technical Summary

Problems solved by technology

However, in the existing bird flock control mechanism, the number of head machines is large, the complexity of manual control increases, and the number of wingmen controlled by each head machine is large, making information interaction more difficult

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