Multi-rotor unmanned aerial vehicle cluster visual landing method based on fuzzy control

A multi-rotor UAV, fuzzy control technology, applied in non-electric variable control, altitude or depth control, control/regulation systems, etc., can solve the problems of waste of manpower and space, unable to meet the large-scale, fast and accurate landing of clusters

Pending Publication Date: 2021-05-11
AIR FORCE UNIV PLA
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Problems solved by technology

Such a method will cause a lot of waste of manpower and space. With the continuous increase of the cluster si

Method used

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  • Multi-rotor unmanned aerial vehicle cluster visual landing method based on fuzzy control
  • Multi-rotor unmanned aerial vehicle cluster visual landing method based on fuzzy control
  • Multi-rotor unmanned aerial vehicle cluster visual landing method based on fuzzy control

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Embodiment Construction

[0052] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0053] 1. UAV cluster landing sign and landing sign layout design

[0054] (1) UAV cluster landing logo design

[0055] The landing sign adopts a red circle (ie figure 1 The numbers "1", "2"...in the dark circle, not the big circle outside the dark circle), there are Arabic numerals in the red circle, each circle has a number, and the number is not repeated. The drone finds its own landing position by identifying red circles with different numbers.

[0056] (2) Layout design of UAV cluster landing signs

[0057] For UAV swarm landing, adopting a suitable landing sign layout in a limited landing area can ensure safer UAV landing, which is conducive to accommodating more UAV landings and facilitates the scale of UAV swarms. increase.

[0058] Landing sign layouts include linear layout, circular layout, triangular layout, square layout, etc. Cluster landings shoul...

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Abstract

The invention provides a cluster autonomous landing algorithm based on fuzzy control. A landing mark is a red circle, an Arabic numeral is arranged in the red circle, each circle has a number, and the numbers are not repeated. Unmanned aerial vehicles find their landing positions by identifying the red circles containing different numbers. A cluster landing point adopts a three-unmanned-aerial-vehicle triangular layout as a basic layout unit, each unmanned aerial vehicle in a cluster carries a simple image acquisition device and a processing system, and each unmanned aerial vehicle identifies the corresponding landing identifier by using a target detection algorithm after arriving at a specified landing waypoint, converts the pixel distance between the center of the landing mark in the image and the view center of the unmanned aerial vehicle into the actual horizontal distance between the unmanned aerial vehicle and the landing identifier, sets the distance as the input quantity, colves the speed control quantity based on fuzzy control for landing, adopts stepped landing in order to guarantee the landing precision during landing, carries out deviation calculation on the unmanned aerial vehicle and the landing point at different specified heights, and lands on steps from high to low.

Description

technical field [0001] The invention relates to a multi-unmanned aerial vehicle cluster safe recovery technology, in particular to a fuzzy control-based visual landing method for a multi-rotor unmanned aerial vehicle cluster. Background technique [0002] As national defense technology continues to make new progress, the situation faced by UAVs when performing intelligence reconnaissance and surveillance, offensive and defensive confrontation and other combat tasks is becoming more and more complex, which makes it increasingly difficult for the performance of a single UAV platform to meet the needs of equipment. The need for development, the concept of UAV swarm combat was born under such a background. In recent years, researchers have continuously explored UAV swarm technology, and swarm operations have gradually moved from theory to engineering practice. For drone swarms, safe recovery is a hot topic in research. Autonomous landing is one of the important means for the s...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0676
Inventor 吴贤宁尹逢川王宁吕智虎李哲梁晓龙齐铎
Owner AIR FORCE UNIV PLA
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