Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture

Abstract

The invention discloses an unmanned aerial vehicle formation cooperative control system and method based on a distributed architecture, and belongs to the technical field of unmanned aerial vehicle control systems. The system comprises an air end, a communication layer and a ground end, wherein the air end comprises a plurality of unmanned aerial vehicles and a single unmanned aerial vehicle system arranged on each unmanned aerial vehicle node; the communication layer realizes information sharing and information sharing forms for all unmanned aerial vehicle nodes, and a switching algorithm fora PMP communication mode and a Mesh network communication mode is designed; and the ground end is a ground control system. According to the invention, a set of distributed communication scheme mainlybased on a Mesh network is designed by using a wireless transmission module; the control law of flight of the lead aircraft formation is optimized, and a new formation tracking algorithm, named as anoptimal turning radius (OTR) algorithm, is provided for solving the problem of real-time dynamic point tracking of the wing aircrafts in the formation flight stage; and the algorithm has better performance than a traditional PID algorithm through multiple times of simulation and test flight experiments.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control systems, and in particular relates to an unmanned aerial vehicle formation cooperative control system based on a distributed architecture and a method thereof. Background technique [0002] UAV formation coordination is one of the topics that has attracted much attention in the industry in recent years. UAV formation coordination is a concept inspired by humans from the highly coordinated group movements of birds and fish in the biological world. Through simple survival rules and local information interaction, social animals form self-organizing behaviors with strong adaptability and high flexibility. This swarm intelligence feature of autonomous coordination, no center and active consensus is very consistent with the cooperative control requirements of UAV formation flight. This distributed characteristic of biological groups is worth learning. [0003] In the field of t...

AI Technical Summary

Problems solved by technology

The traditional centralized control mode ground station needs a lot of information interaction, and has extremely high requirements for the stability, fast and low delay of the communication link

And there is a danger that the entire formation will be out of control when the ground station node is abnormal or the communication link is disconnected.

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