Unmanned aerial vehicle formation shape forming and maintaining method based on artificial potential field method
An artificial potential field method and unmanned aerial vehicle technology, applied in the direction of non-electric variable control, instruments, control/regulation systems, etc., can solve the problems of low accuracy, complex and difficult formation transformation, and too much time spent on formation formation algorithms and other issues to achieve the effect of reducing complexity, improving efficiency, and simple principle
Inactive Publication Date: 2019-08-23
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
[0004] At present, there are still many challenges in solving such problems, including the formation of UAV formation takes a long time, the accuracy is low, the simulation model does not consider the actual battlefield environment, and the formation algorithm takes too much time to satisfy Real-time requirements, complex and difficult formation changes, etc.
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[0046] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0047] like figure 1 As shown, the present invention discloses a UAV formation and maintenance method based on the artificial potential field method, which is mainly aimed at the formation and maintenance of the formation of the intelligent agent group with variable speed. For the convenience of description, simply define the main variables in the algorithm: the virtual UAV is UAV r , the coordinate position is (x r ,y r ), the initial velocity is The heading angle is χ r ; The set of formation drones is {UAV 1 ,UAV 2 ,…,UAV n}, where the coordinate position of the formation UAV is (x i ,y i ), the initial velocity is The heading angle is χ i ; The desired set of UAVs is Among them, the coordinate position of the desired UAV is Sp...
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The invention provides an unmanned aerial vehicle formation shape forming and maintaining method based on an artificial potential field method. The method specifically comprises the steps of initializing unmanned aerial vehicle attributes; designing an unmanned aerial vehicle formation shape; calculating coordinate positions of expected unmanned aerial vehicles corresponding to formation unmannedaerial vehicles; setting attractive potential field functions of the formation unmanned aerial vehicles and the corresponding expected unmanned aerial vehicles; setting a repulsive potential field function among the formation unmanned aerial vehicles; and enabling the formation unmanned aerial vehicles to make a dynamic response. By means of the artificial potential field algorithm, and in combination with position differences and speed differences between the formation unmanned aerial vehicles and the corresponding expected unmanned aerial vehicles, the unmanned aerial vehicle formation shapeforming and maintaining are realized, and the unmanned aerial vehicle formation shape forming efficiency is improved.
Description
technical field [0001] The invention belongs to the field of heuristic algorithms, and in particular relates to a method for forming and maintaining a UAV formation based on an artificial potential field method. Background technique [0002] As an extremely important component on the modern battlefield, drones are also a place where cutting-edge technologies of various countries are displayed. The investment in scientific research in the field of drones continues to increase. Multi-UAV coordinated operations are the main form of future UAV operations, and UAV formation is the basis of multi-UAV coordinated operations and an indispensable part of UAV technology. [0003] At the same time, the multi-UAV group is often in an unknown dynamic environment, and the battlefield situation is changing rapidly. During the formation flight, the UAVs may fail or be shot down and quit the formation. At the same time, the mission points may also move dynamically. The formation formation i...
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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor张迎周卢文健
OwnerNANJING UNIV OF POSTS & TELECOMM