A dense formation flight and collision avoidance control method for fixed-wing UAVs

Abstract

The present invention provides a dense formation flying and collision avoidance control method for fixed-wing unmanned aerial vehicles, including: obtaining the relative navigation and positioning information of each unmanned aerial vehicle in the formation based on visual positioning, and constructing the formation configuration by using the obtained relative navigation and positioning information Maintain the control amount and the collision avoidance control amount between aircrafts; measure and avoid obstacles based on the fixed-focus monocular vision camera to obtain the obstacle avoidance control amount; determine the overall path tracking of the formation based on the relative navigation and positioning information of each UAV in the formation Control amount: Integrate the formation configuration maintenance control amount and inter-machine collision avoidance control amount, obstacle avoidance control amount, and UAV formation overall path tracking control amount to realize dense formation flight and collision avoidance control of UAV formation. The invention can realize dense formation flight and collision avoidance control of the UAV formation by integrating the formation configuration maintenance control amount, the inter-machine collision avoidance control amount, the obstacle avoidance control amount, and the UAV formation overall path tracking control amount.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to a dense formation flight and collision avoidance control method for fixed-wing unmanned aerial vehicles. Background technique [0002] Under the traditional centralized control method, when flying in large-scale cluster formation, due to the limited communication / sensing range, capacity and computing power of a single machine, direct communication / sensing between any two single machines cannot be realized, and global interaction cannot be performed in time. The entire cluster The scale of the coordinated control problem is huge, and the reliability and scalability of the system are difficult to be guaranteed. [0003] When flying in formation to avoid obstacles, the traditional solution is to avoid obstacles through path planning. For small-scale formations and obstacles that are predicted and fixed, obstacles can be avoided in this way. However, in the case of large-scal...

AI Technical Summary

Problems solved by technology

Although this type of navigation equipment can meet practical applications to a large extent, there are still problems such as being controlled by the military and being easily disturbed by terrain and electromagnetic environments.

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