Hierarchical anti-collision control method for fixed-wing unmanned aerial vehicle cluster

Abstract

The invention discloses a hierarchical anti-collision control method for a fixed-wing unmanned aerial vehicle cluster. The method comprises the steps of: S1, dividing a local conflict airspace of an unmanned aerial vehicle into a plurality of hierarchies according to the relative distance between the unmanned aerial vehicle and a conflict object, and constructing a local hierarchical conflict airspace model; S2, acquiring flight state information and expected flight state information of the controlled unmanned aerial vehicle and motion state information of an adjacent unmanned aerial vehicle and an environmental obstacle in a current local airspace in real time, determining a relative state relationship between the unmanned aerial vehicle and the adjacent unmanned aerial vehicle in the local airspace and the environmental obstacle, determining a local conflict airspace level corresponding to the controlled unmanned aerial vehicle at present, and performing conflict detection accordingto the determined local conflict airspace level; and S3, executing collision avoidance according to the local conflict airspace hierarchy currently corresponding to the controlled unmanned aerial vehicle. The method has the advantages that the implementation method is simple, adjacent unmanned aerial vehicles and environmental obstacles can be comprehensively avoided, various collision and dangerous scenes can be covered, the avoiding effect is good, and the like.

Description

Technical field [0001] The invention relates to the technical field of drone control, in particular to a layered anti-collision control method for a fixed-wing drone cluster. Background technique [0002] Fixed-wing unmanned aerial vehicles (UAV) have been widely used in military and civilian fields, and its cluster system used for cooperative missions has also become a trend. For drone cluster flight, how to deal with the obstacle threat in the unknown environment and deal with the uncertainty of the environment has become a major challenge for drone cluster flight. At the same time, with the expansion of the cluster size, it is inevitable that multiple drones will perform tasks in dense airspace with multiple obstacles. It is very likely that drones and drones, drones and environmental obstacles will appear. A collision has caused a great threat to the flight safety of the cluster system. [0003] There have been some researches on the obstacle avoidance and conflict resolution...

AI Technical Summary

Problems solved by technology

[0005]1. The single anti-collision method in the prior art cannot simultaneously solve the problem of collision avoidance and obstacle avoidance among individuals in the cluster;

[0006]2. In the prior art, the anti-collision control law is usually solved based on a class of methods and models, and there is a lack of overall modeling and solution for complex collision scenarios of cluster systems , can not well cover all kinds of collisions and dangerous scenes that may occur, and the actual avoidance effect is not good

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