Pilot following formation control method of rotor unmanned aerial vehicles based on rotation rejection field

Abstract

The invention discloses a pilot following formation control method of rotor unmanned aerial vehicles based on a rotation rejection field, and belongs to the technical field of formation control. The implementation method of the invention is as follows: establishing a dynamic model of the rotor unmanned aerial vehicles, and designing a configuration control law based on a pilot following formationconfiguration control method; designing the rotation rejection field by dividing threat domains of the rotor unmanned aerial vehicles based on a collision avoidance control method of the rotation rejection field, and then designing a collision avoidance control law; and combining the configuration control law with the collision avoidance control law to form a pilot following formation control lawbased on the rotation rejection field, generating a formation control variable of the rotor unmanned aerial vehicles, and completing a formation task under the condition of ensuring the collision avoidance among the rotor unmanned aerial vehicles. Meanwhile, according to the pilot following formation control method disclosed by the invention, the rotor unmanned aerial vehicles form a tangential guide function, so that multiple rotor unmanned aerial vehicles can surround each other in the formation task, accordingly, the rotor unmanned aerial vehicles jump out from a partial deadlock state in the formation task, the formation control efficiency can be improved, and the partial deadlock state of the formation can be alleviated.

Description

technical field [0001] The invention relates to a pilot-following formation control method for a rotary-wing unmanned aerial vehicle based on a rotating repulsion field, and belongs to the technical field of formation control. Background technique [0002] UAV is a power-driven, unmanned, and reusable aircraft. It has the advantages of small size, low cost, convenient use, low environmental requirements, and strong survivability. dangerous task. UAVs mainly include fixed-wing UAVs, unmanned helicopters, rotary-wing UAVs and other types of UAVs. Among them, due to the advantages of high hovering accuracy, good maneuverability, simple control mode, and strong robustness, rotor UAVs have been widely used in areas such as regional reconnaissance, power line inspection, and aerial photography in recent years. [0003] When the rotor UAV is used in professional fields such as reconnaissance and line inspection, it can fly in a certain formation formation, which can expand the sc...

AI Technical Summary

Problems solved by technology

However, for formation tasks, the local contradiction between configuration control and collision avoidance control makes the random perturbation method easy to fall into a local deadlock state. Therefore, the multi-UAV formation control method must quickly jump out of the local deadlock state under the consideration of practical constraints. And ensure collision avoidance between aircraft, guide drones to complete formation tasks

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