Multi-unmanned aerial vehicle cluster anti-collision method based on consistency

Abstract

The invention discloses a multi-unmanned aerial vehicle cluster collision avoidance method based on consistency. The method comprises the following steps: designing an improved consistency cluster control algorithm based on the states of a target unmanned aerial vehicle and unmanned aerial vehicles in a neighborhood, such as speed and position information; arranging a virtual potential field around the target unmanned aerial vehicle, designing segmentation nodes of the virtual potential field, enabling the unmanned aerial vehicle to be kept at the point with the lowest potential energy, and designing an inter-vehicle collision avoidance control law of the unmanned aerial vehicle based on the point; processing the obstacle, selecting a proper point as a nearest obstacle point in real time, arranging a virtual potential field near the obstacle, and designing a unidirectional repulsion effect to realize obstacle avoidance; and finally, designing a virtual speed for the nearest neighbor obstacle point to make the speed of the target unmanned aerial vehicle gradually consistent with the virtual speed, achieve a shunting effect, and avoid a local minimum value state. According to the method, the distance between the unmanned aerial vehicles can be kept within an expected range, and collision is prevented; and the speed of the unmanned aerial vehicle is consistent with the virtual speed, and shunting near an obstacle is achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an anti-collision method for unmanned aerial vehicles. Background technique [0002] In the field of UAV formation, the consensus algorithm is already a relatively mature algorithm. Based on the idea of ​​graph theory topology, the communication range of formation UAVs is designed, and the adjacency matrix is ​​used to design the topological weights of communication between UAVs, and the formation control law is designed on this basis. However, when the number of UAVs is too large, the traditional graph theory based on the adjacency matrix has its own disadvantages: when the communication range is large, the flight control computer needs to process a large amount of data, and when the communication range is small, the boundary transition will be difficult. Abrupt, the amount of control will have a sudden change, and the robustness of the formation is...

AI Technical Summary

Problems solved by technology

However, the traditional potential field method still has some disadvantages. Although it can design the control amount more smoothly, it does not make a clear obstacle avoidance design for dynamic obstacles, and there is still the problem of local minima, and the algorithm is not stable enough.

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