Arbitrarily-placed automatic take-off control method, unmanned aerial vehicle formation and storage medium

Abstract

The invention belongs to the technical field of unmanned aerial vehicle motion planning, and discloses an arbitrarily-placed automatic take-off planning method, an unmanned aerial vehicle formation and a storage medium. The method comprises the steps: checking position information of randomly-placed unmanned aerial vehicles; reading the position information of the unmanned aerial vehicle to obtainpre-numbering information; according to the pre-numbering information and the position information, acquiring the information of adjacent unmanned aerial vehicles of each unmanned aerial vehicle, andacquiring the unmanned aerial vehicle linked list information; automatically generating safety grouping information corresponding to the unmanned aerial vehicle according to the unmanned aerial vehicle linked list information and the position information; automatically calculating the takeoff time of the unmanned aerial vehicle according to the safety grouping information and the specified flighteffect information of the unmanned aerial vehicle to obtain takeoff time information corresponding to each unmanned aerial vehicle; according to the takeoff time information of each unmanned aerial vehicle, obtaining safe takeoff waypoint information meeting the flight effect of the specified cluster. The waypoint information is automatically adjusted according to the automatically distributed takeoff time confidence of each unmanned aerial vehicle, and the safe flight waypoint information meeting the specified cluster flight effect is generated.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to an automatic take-off control method for random placement, an unmanned aerial vehicle formation and a storage medium. Background technique [0002] At present, the placement method of the UAV formation before take-off is to plan the take-off marking position on the ground in advance. [0003] Through the above analysis, the problems and defects in the prior art are: [0004] (1) Since the existing method requires manual ground planning and take-off marking positions, and for the formation performance of UAVs, there are a large number of aircrafts, which will result in a large amount of manpower. [0005] (2) Since the existing method needs to manually plan the take-off mark position on the ground in the early stage, and for the abnormal performance of the UAV formation, there is a need to re-plan the position of the site mark for each performa...

AI Technical Summary

Problems solved by technology

[0004] (1) Since the existing method requires manual pre-ground planning and take-off marking positions, and for the formation performance of UAVs, there are a large number of aircrafts, which will result in a large amount of manpower

[0005] (2) Since the existing method needs to manually plan the take-off mark position on the ground in the early stage, and for the abnormal performance of the UAV formation, there is a need to re-plan the position of the site mark for each performance site position, which will lead to a lot of manpower produce

[0006] (3) Due to the existing method, all aircraft are manually placed to the planned ground marking position before the performance, and due to the large number of drones flying in formation, all drones need to be seated manually before take-off, which leads to the in-flight Initially there was a large amount of manpower

[0007] (4) Due to the existing method, all aircrafts are manually placed to the planned ground marking positions before the performance, and due to the large number of drones flying in formation, all drones need to be seated manually before taking off. Put the probability of error, if the wrong placement occurs, it will lead to the possibility of bombing after the drone takes off, which will lead to the failure of normal performances and even huge property losses.

[0008] The difficulty of solving the above problems and defects is: in solving this problem and defects, there is no relevant effective method in the industry to deal with this problem. The reason is that the pre-made marking positions on the ground are for the take-off process of cluster drones Keep a safe distance between the aircraft, and if you cancel the manual pre-planned position, you need a method for the drone to automatically take off according to the safe distance

Images