Unmanned aerial vehicle cluster path planning processing method based on artificial potential field and unmanned aerial vehicle

Abstract

The invention, which belongs to the technical field of unmanned aerial vehicle cluster control, discloses an unmanned aerial vehicle cluster path planning processing method based on an artificial potential field, and an unmanned aerial vehicle. The method comprises the steps: carrying out conversion to obtain a position dot matrix of an unmanned aerial vehicle array according to a target shape andsequence of the unmanned aerial vehicle array, and generating a target waypoint array of a single unmanned aerial vehicle; on the basis of an artificial potential field method, calculating a repulsive force FRi of the single unmanned aerial vehicle by other unmanned aerial vehicles in the cluster and a resultant force FR of all the repulsive forces; calculating a target point gravitation FG of the single unmanned aerial vehicle; simulating flight, calculating a resultant force received by the unmanned aerial vehicle according to the gravitation FG and the repulsion FR, and adjusting an expected waypoint of the unmanned aerial vehicle in the next step according to the resultant force; and finally, forming a safe track for each unmanned aerial vehicle to finish the track planning work of the whole unmanned aerial vehicle cluster. The method is suitable for solving a path planning problem of a large-scale unmanned aerial vehicle cluster during formation flight, and the unmanned aerial vehicle cluster path planning processing method has the characteristics of easiness in implementation, high safety, high reliability and good unmanned aerial vehicle cluster control effect.

Description

technical field [0001] The invention belongs to the technical field of UAV cluster control, and in particular relates to a UAV cluster path planning processing method based on an artificial potential field and a UAV. Background technique [0002] At present, the closest existing technology: As UAVs are increasingly used in military and civil fields, the related path planning issues have also attracted extensive attention from scientific researchers in various countries. Under the vigorous promotion of computer technology and aerospace technology, UAV path planning system plays a vital role in the process of UAV performing combat missions. The purpose of UAV path planning is to plan a flight path that meets the constraints according to mission requirements, which is the core part of UAV mission planning. [0003] To sum up, the problems in the existing technology are: the path planning of large-scale UAV formation is relatively complicated, and there is a lack of effective a...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problems in the existing technology are: the path planning of large-scale UAV formation is relatively complicated, and there is a lack of effective algorithms to quickly realize the path planning of UAV formation formation transformation.

[0005] When there are many individuals in the UAV formation and the distance is close, the mutual avoidance rules between UAVs are more complicated, lack integrity, and require a large amount of calculation

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