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A dynamic formation switching method for distributed UAVs based on waypoints

A technology of unmanned aerial vehicles and waypoints, which is applied in the field of formation flight of unmanned aerial vehicles, can solve the problems of complex formation switching methods and difficulty in application, and achieve the effect of easy implementation and small amount of calculation

Active Publication Date: 2022-06-24
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0010] In order to solve the shortcomings of the existing formation switching methods that are complex and difficult to apply, the present invention proposes a distributed UAV dynamic formation switching method based on waypoints to realize the dynamic formation switching of UAVs

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  • A dynamic formation switching method for distributed UAVs based on waypoints
  • A dynamic formation switching method for distributed UAVs based on waypoints
  • A dynamic formation switching method for distributed UAVs based on waypoints

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Embodiment Construction

[0027] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0028] During the flight of the UAV, for each UAV, only the information of the surrounding UAVs that can successfully communicate with itself is used to switch the formation.

[0029] Taking UAV i as the research object, during the flight, when m surrounding UAVs establish communication connections with it, the offset ΔX of the next waypoint of UAV i during the nth iteration flight i,n Should be:

[0030]

[0031] where n is the number of iterations, a ij is the adjacency weight matrix of the communication topology, which can be composed of 0 and 1 here, 1 is communicable, 0 is not communicable; m is the total number of UAVs; X j and X i are the positions of UAV j and UAV i, respectively; X jiref For the deviation of the expected formation position of the UAV j and the UAV i, the present invention establishes four commonly used formation sets as th...

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Abstract

The invention relates to a waypoint-based distributed UAV dynamic formation switching method. First, the expected formation position deviation between UAV j and UAV i is obtained according to the formation, and then the required position is calculated according to the expected formation position deviation. Deviation and the position of the next waypoint of the UAV, and iteratively update the position of the waypoint, so that the relative distance between the UAVs reaches the expected value, and the formation flight is realized. The present invention only uses the position information of each UAV to design waypoints under the dynamic constraints of UAVs. UAVs only need to reach the waypoints planned online under the control of their own flight control system. There is no need to call the missile control system in real time to return relevant flight parameters, the calculation amount is small, simple and practical, and it is beneficial to engineering, and it can realize the dynamic formation control of UAVs when part of the communication network is lost and the topology changes.

Description

technical field [0001] The invention belongs to the technical field of formation flying of unmanned aerial vehicles, and relates to a formation method of unmanned aerial vehicles under partial communication network loss and topology changes. Background technique [0002] UAV formation refers to a certain formation arrangement and task assignment of multiple UAVs to meet the mission requirements. This concept includes not only the formation, maintenance and change of UAVs during formation flight, but also the planning, organization and execution of flight missions. UAV formation is an important trend in the development of UAV technology. It has an extremely broad development and application prospect. Because the equipment, range and activity area carried by a single UAV are extremely limited, it is necessary to complete relatively complex tasks. At the same time, it is necessary to dispatch multiple sorties of UAVs. The formation-operated UAVs can make up for this deficienc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 张栋索文博王孟阳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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