Collision avoidance control method for bee swarms based on elastic force field

Abstract

The invention discloses a bee colony collision avoidance control method based on an elastic force field, which belongs to the field of unmanned aerial vehicle formation control. This method first obtains the initial spatial position information of the UAV formation, and uses the Delaunay diagram method to construct and generate the initial UAV formation grid; then builds the bee colony elastic anti-disturbance equation based on the global elastic force field method, and determines the boundary conditions of the elastic force field; Finally, during the movement process, the flying positions of the internal nodes of the unmanned formation are calculated and adjusted in real time. Simulation shows that the swarm avoidance control method designed in the present invention has higher practicability and better robustness, and can better solve the problem of unmanned swarm flight collision avoidance control in strong turbulent airflow. Military and civil fields such as UAV swarm combat, UAV cooperative search and rescue, and UAV swarm performance have broad application prospects.

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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