Unmanned aerial vehicle cluster autonomous formation control method imitating migrant bird migration behavior

Abstract

The invention discloses an unmanned aerial vehicle cluster autonomous formation control method imitating a migrant bird migration behavior. The method comprises the implementation steps of 1, initializing an unmanned aerial vehicle cluster; 2, determining a lead aircraft; 3, determining a leader relationship among the unmanned aerial vehicles; 4, enabling the lead aircraft to judge whether obstacles exist in the front flight environment or not; 5, performing a barrier-free flight mode in the environment; 6, performing an obstacle flight mode in the environment; 7, updating a control instruction of the unmanned aerial vehicle pilot; and 8, performing formation reconstruction. The method aims at achieving autonomous formation flight of multiple unmanned aerial vehicles and simulating cluster behaviors shown by the migrant birds during long-distance migration, is used for designing an unmanned aerial vehicle cluster formation control strategy, improves the robustness of an unmanned aerial vehicle cluster and the adaptability to the environment, and effectively improves the autonomous ability level of the unmanned aerial vehicles.

Description

technical field [0001] The invention relates to an autonomous formation control method of an unmanned aerial vehicle group imitating the migratory behavior of migratory birds, and belongs to the field of autonomous control of unmanned aerial vehicles. Background technique [0002] UAV (Unmanned Aerial Vehicle, referred to as UAV) is the general term for unmanned aircraft. It is an aircraft controlled by radio remote control and its own program control device. It has the particularity of "unmanned platform and manned system". In recent years, due to the advantages of low construction and use costs, low ground support requirements, strong mobility, and low safety risk factor, UAVs have developed rapidly in military and civilian applications and have broad prospects. [0003] With the continuous development of UAV technology, the requirements and tasks of UAVs in practical applications are becoming more and more complex and diverse. Due to the small size and light weight of th...

AI Technical Summary

Problems solved by technology

The long-leg method has strong scalability and lower requirements for group communication, but it depends on the state of a single target, and sometimes it is difficult to achieve the desired effect; the behavior-based method defines several basic control behaviors of UAVs, such as following , obstacle avoidance and formation maintenance, etc., but this method relies on preset information and trigger conditions to form control instructions, and the adaptability and flexibility of the whole method are low; the virtual structure method regards the formation as a virtual rigid body, setting A virtual lead plane or a virtual geometric center is used as a reference point to lead all UAV movements. This method overcomes the shortcoming that the formation cannot be maintained after the lead plane fails in the long-wing mode, but requires communication and computing capabilities. higher, making the overall reliability lower

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