5G networked unmanned aerial vehicle formation anti-collision method based on improved artificial potential field

Abstract

The invention discloses a 5G network connection unmanned aerial vehicle formation anti-collision method based on an improved artificial potential field. The method comprises the steps of obtaining a real-time position, a real-time course angle and an acceleration of each unmanned aerial vehicle in an unmanned aerial vehicle formation, unmanned aerial vehicle inter-vehicle distance, the distances between the obstacles in the airspace and the unmanned aerial vehicles based on a 5G network; changing the artificial potential fields between the unmanned aerial vehicles and the potential fields of the obstacles in the airspace to adjust the acceleration and the course angle of the unmanned aerial vehicle, and finally sending the adjusted acceleration and course angle information of the unmannedaerial vehicles to an unmanned aerial vehicle control terminal through a 5G network so as to prevent the unmanned aerial vehicles from colliding. According to the invention, the acceleration and course angle of the unmanned aerial vehicle are adjusted by changing the artificial potential field between unmanned aerial vehicles and the potential field of obstacles in the airspace; the problem that alocal minimum value exists in obstacle avoidance of a traditional artificial potential field method is solved, the unmanned aerial vehicle is effectively prevented from colliding with other unmannedaerial vehicles or obstacles in the running process, and the running safety of the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention belongs to the field of UAV anti-collision technology, and relates to a 5G network-connected UAV formation anti-collision method based on an improved artificial potential field. Background technique [0002] With the continuous development of the mobile Internet, more and more communication devices are added to it. This explosive data growth will definitely bring great challenges to the communication network, and also put higher demands on the wireless communication link. Require. The full deployment of the fifth-generation mobile communication system (5G) provides wireless communication networks with large-bandwidth, high-reliability, and low-latency communication links, which also greatly promotes the rapid development of UAV applications, making UAVs The development trend of the application industry and mobile communication technology is closely integrated, gradually forming a networked drone. With the help of widely distributed commu...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a 5G networked UAV formation anti-collision method based on an improved artificial potential field, which solves the problem of local minima in traditional artificial potential field method obstacle avoidance

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