Bee colony collision avoidance control method based on elastic force field

Abstract

The invention discloses a bee colony collision avoidance control method based on an elastic force field, and belongs to the field of unmanned aerial vehicle formation control. The method comprises the following steps of firstly, acquiring the initial space position information of an unmanned aerial vehicle formation, and constructing and generating an initial unmanned aerial vehicle formation grid by adopting a Delaunay graph method; constructing a bee colony elastic disturbance rejection equation based on a global elastic force field method, and determining the elastic force field boundary conditions; and finally, calculating and adjusting the flight position of an internal node of the unmanned formation in real time in the movement process. Simulation shows that the designed swarm collision avoidance control method has higher practicability and better robustness, the unmanned bee colony flight collision avoidance control problem in strong disturbance airflow can be better solved, and the method has wide application prospects in the military and civil fields, such as unmanned aerial vehicle bee colony combat, unmanned aerial vehicle cooperative search and rescue, unmanned aerial vehicle performance, etc.

Description

technical field [0001] The invention relates to the field of UAV formation control, in particular to a control method for bee swarm collision avoidance based on an elastic force field. Background technique [0002] Unmanned aerial vehicles have the advantages of diverse uses, strong flexibility, and low cost, and have received extensive attention in military and civilian fields. Compared with a single UAV, the UAV swarm has become a hot research field in recent years because of its stronger survivability, higher scalability, and diversity of tasks that can be completed. In the military field, the U.S. military has successively launched System Integration Technology and Experiment (SoSITE), Coordinated Operations in Denied Environments (CODE), Low-cost UAV Swarm (LOCUST), Offensive Swarm Tactics (OFFSET), Gremlins (Gremlins) ) and other unmanned aerial vehicle swarm concepts or projects, intending to achieve the goal of overwhelming military superiority in a strong confronta...

AI Technical Summary

Problems solved by technology

At present, these methods all adopt local position adjustment measures in the anti-jamming adjustment of UAVs, which have better results in dealing with local minimal disturbances, but will face a global out-of-control state in the face of strong wind interference.

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