Unmanned aerial vehicle cluster control method of jackdaw-imitating pairing interaction mechanism

A swarm control and unmanned aerial vehicle technology, applied in non-electric variable control, control/regulation systems, three-dimensional position/channel control, etc., can solve the problems of low communication load, communication congestion, and large communication load.

Inactive Publication Date: 2020-12-04
BEIHANG UNIV
View PDF4 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Many UAV clusters use hierarchical leader interaction, such as the leader-follower mode. This mode is simple and stable, and the communication load is not high, but it is not flexible enough and has poor adaptability to cluster failures; when interacting with fixed neighbor distances, the neighbors of the drone The number is related to the cluster density and the position of the UAV. When

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Unmanned aerial vehicle cluster control method of jackdaw-imitating pairing interaction mechanism
  • Unmanned aerial vehicle cluster control method of jackdaw-imitating pairing interaction mechanism
  • Unmanned aerial vehicle cluster control method of jackdaw-imitating pairing interaction mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0080] The effectiveness of the proposed method of the present invention is verified below through a specific example. In this example, the experimental computer is configured with intel i5-4210 processor, 1.70Ghz main frequency, 4G memory, and the software is MATLAB2018b version.

[0081] The UAV swarm control method imitating the jackdaw pairing interaction mechanism, its realization process is as follows figure 1 As shown, the specific steps of this example are as follows:

[0082] Step 1: Initialize

[0083] Generate the initial flight status of 10 UAVs. The three-dimensional space positions are: (-1.2419m, -16.5094m, 74.9615m), (18.7793m, -12.6490m, 58.9982m), (-12.1978m, 8.2152m, 55.4164m), (-1.4887m, 17.0093m, 56.4767m), (7.2017m, 0.5981m, 65.6621m), (-5.6412m, 5.0097m, 61.8010m), (0.3644m, -10.1288m, 51.3619m) , (-7.3472m, 11.3368m, 79.1270m), (9.1079m, 6.0395m, 69.9385m), (-4.0424m, 6.8183m, 63.2160m), the horizontal speed, heading angle and altitude change rate ar...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an unmanned aerial vehicle cluster control method of a jackdaw-imitating pairing interaction mechanism. The unmanned aerial vehicle cluster control method comprises the steps of: 1, carrying out initialization; 2, calculating a three-axis position and speed of a jackdaw; 3, judging whether the jackdaw is an information individual or not; 4, selecting interactive neighbors of the jackdaw; 5, calculating a jackdaw cluster control quantity; 6, calculating an unmanned aerial vehicle autopilot control instruction; 7, inputting the autopilot control instruction into an unmanned aerial vehicle model; and 8, judging whether immitation is finished or not. According to the unmanned aerial vehicle cluster control method, through unmanned aerial vehicle pairing of a certain proportion, the number of neighbors without man-machine interaction in the cluster is reduced on the premise that the consistency and aggregation of the cluster are guaranteed, and therefore the communication load is reduced. By adopting the unmanned aerial vehicle cluster control method, the unmanned aerial vehicle cluster can respond to stimulation more easily for one-way stimulation, and the stress precision is higher.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle cluster control method imitating the pairing interaction mechanism of jackdaws, and belongs to the field of autonomous control of unmanned aerial vehicles. Background technique [0002] Due to the advantages of low risk, low cost, and strong environmental adaptability, UAVs are increasingly used in civilian and military missions. Due to its limited resources, a single UAV cannot perform large-scale tasks. In order to meet new mission requirements, multi-UAV clusters have gradually become a research hotspot in the field of UAVs. Through mutual cooperation, single-machine resources can be fully utilized and completed. more complex tasks. The mutual cooperation and coordination between UAVs requires inter-machine interaction, and the performance of the communication network meets the integrity, accuracy, timeliness and synchronization of interactive transmission between systems, in order to achieve the ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 段海滨张令鲜宁邓亦敏魏晨周锐吴江
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap