Method for generating unmanned aerial vehicle cluster escort behavior based on improved virtual force field

Abstract

The invention relates to the technical field of unmanned aerial vehicle (UAV) escort and discloses a method for generating an unmanned aerial vehicle cluster escort behavior based on an improved virtual force field. By using a combined force formed by an individual repulsive force of an individual UAV, an individual consistent force, an escort target attraction force, an attraction force of a high-value area and a repulsive force of a no-fly zone as a virtual control force model of the individual UAV in a virtual force field and then establishing a force mode of a UAV cluster virtual force field, the acceleration of each UAV is controlled by virtual control force applied to each UAV, and an escort behavior of a reconnaissance UAV cluster is generated. According to the method, the directionof movement can be autonomously planned for each UAV, a reconnaissance formation is generated with an escort target as a center, and at the same time, the method has the functions of avoiding the no-fly zone, primarily observing a high-value target and avoiding obstacles within the cluster.

Description

Technical field [0001] The invention relates to the technical field of UAV escort, in particular to a method for generating UAV cluster escort navigation based on improved virtual force field. Background technique [0002] In the process of performing tasks such as vehicles crossing complex terrain, ships passing through dangerous seas, and people passing through dangerous areas, the degree of understanding of the comprehensive information of the mission environment plays a vital role in the safety and efficiency of the mission. [0003] As a low-cost, highly maneuverable, and fast-deployed detection method, rotary-wing small reconnaissance drones can provide real-time vision for escorted objects, while a large number of drone clusters can continue to provide a wide range and diverse viewing angles. Environmental information, and further provide comprehensive information support. [0004] At the same time, as the number of drones increases, its control becomes increasingly difficult...

AI Technical Summary

Problems solved by technology

[0004] At the same time, with the increase in the number of UAVs, the difficulty of their control is getting higher and higher

On the one hand, as the number of UAVs increases, if they are controlled one by one by the UAV pilot, the cost of manpower and equipment will continue to increase; on the other hand, due to the increase in the number of UAVs, mutual avoidance Barriers, coordination, information transmission and other requirements continue to increase

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