A UAV cluster grazing method based on flocking algorithm

Abstract

The invention discloses a UAV cluster grazing method based on the Flocking algorithm, comprising the following steps: S1. Constructing a UAV grazing model: UAVs intimidate the flock during grazing, so as to prevent livestock from entering and leaving the unmanned The machine is the center of the circle, and the radius is within a circle of five meters; the UAVs for grazing include stereotyped UAVs and expulsion UAVs; the stereotyped UAVs obtain the real-time shape of the flock through real-time photography and image recognition; S2. Stereotyped UAVs form a moving sheepfold; S3. Determine the direction of travel of the flock; S4. Delineate the first-level warning area; S5. Use the stereotyped UAV for grazing; S6. Set the second-level warning area and livestock monitoring in the area . The invention improves the effectiveness, stability and automation of repelling, and broadens the applicable scenarios.

Description

technical field [0001] The present invention relates to UAV grazing, in particular to a UAV cluster grazing method based on Flocking algorithm. Background technique [0002] In recent years, more and more people have invested in the research of applying drones to animal husbandry. The existing technology has been able to provide a general framework for grazing methods and systems based on drones. It can monitor and plan the direction of the herd, guide the flock to complete the behaviors of eating on time and avoiding other flocks. In route planning, pasture selection, There have been great achievements in monitoring sheep flocks and improving the utilization rate of high-quality grass sources. [0003] After determining the forward route, on the specific scheme of driving the flock to the destination by the drone, the existing scheme includes: (1) guiding the flock to: control the drone to reach the current position of the leading livestock and guide the leading livestock...

AI Technical Summary

Problems solved by technology

[0004] In solution (1), by guiding the leader of the flock to adjust the position of the flock, it is impossible to solve the problem that the leader loses control and does not obey the command when encountering some special situations such as danger; some livestock do not follow the leader and run away from the herd.

may cause substantial losses

The plan of driving the flock to adjust the position in plan (2) is only a general discussion at present, and it does not talk about how to cooperate with the driving of the specific UAV group, how to determine the expected driving position of each UAV, etc.

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