Formation and obstacle avoidance control method of UAVs in UAV system

A control method and unmanned aerial vehicle technology, applied in the direction of control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc., can solve problems such as inability to reorganize, poor obstacle avoidance, etc., to save energy and improve handling of emergencies The ability of events and the effect of improving the completion rate of tasks

Active Publication Date: 2021-01-26
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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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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  • Formation and obstacle avoidance control method of UAVs in UAV system
  • Formation and obstacle avoidance control method of UAVs in UAV system
  • Formation and obstacle avoidance control method of UAVs in UAV system

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Embodiment Construction

[0024] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0025] All UAVs used in formation in this scheme form a network topology map, and each UAV has a formation controller and an obstacle avoidance controller. Specifically, the formation controller and obstacle avoidance controller can be the UAV’s A model in the controller, the formation information of each UAV i is designed as f i =[f ix ,f iv ] T , where f ix , f iv Represents the set formation position and formation s...

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Abstract

The invention discloses a formation and obstacle avoidance control method of unmanned aerial vehicles in an unmanned aerial vehicle system, which belongs to the unmanned aerial vehicle control technology. , determine whether there is an obstacle within the set range of the UAV, if so, go to step S3, otherwise go to step S5; S3, according to the speed and position of the UAV at time t, calculate the obstacle avoidance controller of the UAV Output; S4 calculates the speed and position of the UAV at time t+1 according to the output, speed and position of the UAV at time t, and after adjusting the UAV at time t+1, set t=t+1 and enter the step S2; S5 adjust the formation, obstacle avoidance and ending methods according to whether the UAV system avoids obstacles and whether it reaches the goal. The control method provided by this scheme can solve the problems of poor obstacle avoidance and inability to reorganize after obstacle avoidance when UAVs maintain formation navigation.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 骆春波吴佳罗杨刘子健孙文健刘翔张赟疆
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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