Method and device for exchanging UAV target position in UAV system

Abstract

The invention discloses an unmanned aerial vehicle target position exchange method and device in an unmanned aerial vehicle system. The method comprises the steps of obtaining a current position, a final target position and a priority; sending broadcast information to the unmanned aerial vehicle group, and receiving broadcast information sent by other unmanned aerial vehicles in the unmanned aerial vehicle group; when the current unmanned aerial vehicle meets a first preset condition, generating an obstruction unmanned aerial vehicle set; selecting an optimal adjacent unmanned aerial vehicle according to the hindered unmanned aerial vehicle set, and sending request information for exchanging a final target position to the optimal adjacent unmanned aerial vehicle; after the agreement exchange information of the optimal adjacent unmanned aerial vehicle is received, taking the final target position of the optimal adjacent unmanned aerial vehicle as the final target position of the currentunmanned aerial vehicle; according to the embodiment of the invention, the information of the adjacent unmanned aerial vehicles is acquired through the communication system, the hindered unmanned aerial vehicle set is constructed, and the optimal adjacent unmanned aerial vehicle is selected according to the hindered unmanned aerial vehicle set, so that the calculated amount and consumed time of unmanned aerial vehicle position exchange are simplified, and the requirement on unmanned aerial vehicle hardware is reduced.

Description

【Technical field】 [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to an unmanned aerial vehicle target position exchanging method in an unmanned aerial vehicle system. 【Background technique】 [0002] In recent years, the formation control of multi-UAV systems has been gradually paid attention to due to its wide potential application value in search and rescue missions, logistics and transportation and other fields. UAV formation control technology involves various disciplines such as control, communication, artificial intelligence, and aerodynamics. The specific research subfields include: formation formation, formation maintenance, formation transformation, collision avoidance, etc. There are certain results. In each subfield, the UAV target position in the UAV system will be involved, so that the formation change, task change, etc. can be performed by exchanging the target position of the UAV. [0003] Whe...

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