Unmanned aerial vehicle rigid formation switching method and device

Abstract

The embodiment of the invention provides an unmanned aerial vehicle rigid formation switching method and device, and the method comprises the steps: obtaining at least one corresponding feasible topological graph based on a current formation topological graph; screening the at least one feasible topological graph based on a distribution rule corresponding to the feature value of the feasible topological graph incidence matrix to obtain at least one first target topological graph; based on the obstacle model, calculating the minimum effective radius and the expansion factor of each first targettopological graph; and based on an energy optimization algorithm, obtaining a topological graph with the minimum cost from the first target topological graphs as a second target topological graph, and achieving rigid formation switching by the unmanned aerial vehicle based on the second target topological graph. According to the characteristic value distribution rule of the feasible topological graph, the solution space of the feasible topological graph is greatly reduced; by establishing the effective radius of the formation, the formation is ensured to smoothly pass through an obstacle, andthe physical feasibility of formation change is improved; and through an energy optimization algorithm, the minimum formation change cost is ensured.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a method and device for switching rigid formations of UAVs. Background technique [0002] With the development of sensors and remote wireless control technology, the function of a single UAV is becoming more and more powerful. However, due to its own size and load limitations, a single UAV still faces limited mission radius, long mission period, and limited types of information collection. challenge. The joint execution of tasks by multiple UAVs in the form of cooperative formation will integrate individual behavior and resource advantages, and with the help of task decomposition, it can maximize resource utilization and task execution efficiency. [0003] Formation transformation refers to the change of a team composed of multiple agents from the current geometric topology to a predetermined geometric form (ie formation) while moving towards a specific goal or direction, wh...

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Problems solved by technology

These algorithms provide logically feasible solutions for formation transformation, but there are three problems: (1) In the solution space, there are infinite groups of target formation choices, which lack uniqueness (2) Formation transformation is only considered from the change of geometric topology , lack of physical feasibility; (3) A reasonable evaluation system has not been established, resulting in a lack of effective evaluation of formation switching costs

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