Distributed cluster unmanned aerial vehicle formation changing method

A distributed cluster and unmanned aerial vehicle technology, applied in the direction of non-electric variable control, instrument, three-dimensional position/channel control, etc., can solve the problems of not being able to obtain the allocation plan, increasing the flight range, and poor algorithm flexibility

Active Publication Date: 2020-03-06
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The disadvantage of this is that the flexibility of the algorithm is poor, and an optimal alloc...

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  • Distributed cluster unmanned aerial vehicle formation changing method
  • Distributed cluster unmanned aerial vehicle formation changing method
  • Distributed cluster unmanned aerial vehicle formation changing method

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Embodiment

[0110] The system simulation environment is: Intel 2.8GHz, PC with 16GB memory, Windows10 operating system, Matlab2016b platform.

[0111] In this embodiment, a three-dimensional map model is adopted, and the coordinate system is a plane coordinate system. Suppose there are nine drones in total, the initial speed of each drone is randomly generated in [0,0.1]×[0,0.1]×[0,0.1]m / s, and the initial position is in [0,300]×[0,300 ]×[0,300]m randomly generated. The initial position q of the virtual leader γ (0)=(150,150,150)m, initial speed p γ (0)=(20,20,10)m / s, acceleration u γ =0m / s 2 . The communication radius of each drone is r=300m, and the expected distance between drones is d=200m. The expected formation of UAVs is a circle, the maximum speed of UAVs is limited to 60m / s, and the maximum acceleration is limited to 10m / s 2 , λ=0.0003, the initial revenue R=100 for each target position.

[0112] In step 2, take the desired formation as a circle as an example, such as f...

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Abstract

The invention provides a distributed cluster unmanned aerial vehicle formation changing method. The method comprises the steps that firstly, the position and the speed of cluster unmanned aerial vehicles are initialized, and the flight formation of a cluster is designed; secondly, an unmanned aerial vehicle cooperative task allocation model is established, and each unmanned aerial vehicle independently performs task selection, so as to construct and update a task packet; after the task packet is updated, each unmanned aerial vehicle shares own known information with other unmanned aerial vehicles in the communication neighborhood at the same time and performs consistency negotiation, and CBBA is adopted to complete position allocation from an initial random position to a cluster target formation, so that the algorithm is finally converged to a conflict-free task allocation scheme; and finally, a control law is designed based on the position and speed consistency between the unmanned aerial vehicles of the cluster and between the unmanned aerial vehicles and a virtual leader to realize formation and maintenance of the cluster formation. According to the invention, rapid and efficient formation change of the cluster unmanned aerial vehicles can be realized through redistribution of the target formation position.

Description

technical field [0001] The invention belongs to the field of coordinated control of clustered unmanned aerial vehicles, and in particular relates to a formation transformation method of clustered unmanned aerial vehicles. Background technique [0002] With the development of UAV technology, multi-UAV cooperative missions have more advantages than a single UAV, which can improve combat efficiency and shorten task completion time, and become a vital part of the modern battlefield. Man-machine swarm formation control is the premise to ensure that UAV swarms can perform various tasks better, so it has received extensive attention. UAV swarm formation control refers to the formation, maintenance, transformation and reconstruction of multiple UAVs with autonomous functions according to different mission requirements or external environments. Among them, formation transformation is a key part. ring. Different swarm formations often have different purposes. Common swarm formations...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 符小卫潘静王辉高晓光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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