Formation and obstacle avoidance control method for unmanned aerial vehicles in unmanned aerial vehicle system

Abstract

The invention discloses a formation and obstacle avoidance control method for unmanned aerial vehicles in an unmanned aerial vehicle system, and belongs to the unmanned aerial vehicle control technology. The method comprises the following steps: S1, carrying out formation of all unmanned aerial vehicles; S2, judging whether an obstacle exists in a set range of the unmanned aerial vehicles or not according to signals collected by the unmanned aerial vehicles at the moment t: if so, switching to step S3, otherwise, switching to step S5; S3, calculating the output of an obstacle avoidance controller of the unmanned aerial vehicles according to the speeds and positions of the unmanned aerial vehicles at the moment t; S4, calculating the speeds and positions of the unmanned aerial vehicles at the moment t+1 according to the output, the speeds and the positions of the unmanned aerial vehicles at the moment t, adjusting the unmanned aerial vehicles at the moment t+1, enabling t to be equal tot+1, and switching to step S2; S5, adjusting the formation, obstacle avoidance and ending methods according to whether the unmanned aerial vehicle system avoids obstacles and whether the unmanned aerial vehicle system reaches the target. The control method provided by the scheme can solve the problems that the unmanned aerial vehicles keep poor obstacle avoidance during formation navigation and cannot be recombined after obstacle avoidance.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a formation and obstacle avoidance control method of unmanned aerial vehicles in an unmanned aerial vehicle system. Background technique [0002] Unmanned aerial vehicles are gaining more and more attention in practical applications, such as disaster assistance, agriculture, power transmission and so on. These tasks often require multiple drones to coordinate and complete tasks more efficiently through information interaction and transmission. Studies have shown that maintaining an orderly formation of multiple drones can save energy consumption and make the communication link between them more stable. [0003] In this regard, in practical application scenarios, UAVs are often required to maintain an orderly formation and fly to the destination, but UAVs will inevitably encounter obstacles while maintaining formation flight. Therefore, it is of great sig...

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Problems solved by technology

[0004] Aiming at the above-mentioned deficiencies in the prior art, the UAV formation and obstacle avoidance control method in the UAV system provided by the present invention solves the problem of poor obstacle avoidance when the UAV maintains formation navigation and cannot be reorganized after obstacle avoidance

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