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Micro unmanned aerial vehicle cluster collision-free control method and device based on swarm intelligence

A kind of unmanned aerial vehicle and miniature technology, which is applied in the direction of non-electric variable control, control/adjustment system, three-dimensional position/channel control, etc., can solve the problem of not being able to fully control the autonomous collision-free group movement of the UAV group, and achieve improved capabilities Effect

Pending Publication Date: 2021-12-31
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] To sum up, the above-mentioned literature only involves the analysis of the collision-free mechanism of the system, and this method cannot fully control the autonomous collision-free swarm movement of the UAV swarm

Method used

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  • Micro unmanned aerial vehicle cluster collision-free control method and device based on swarm intelligence
  • Micro unmanned aerial vehicle cluster collision-free control method and device based on swarm intelligence
  • Micro unmanned aerial vehicle cluster collision-free control method and device based on swarm intelligence

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specific Embodiment 1

[0168] In the specific embodiment 1, the individual speed changes of the 3 miniature unmanned aerial vehicles in the non-singular communication mode are as follows: image 3 As shown, three micro-UAV systems with non-singular communication mode can realize collision-free swarm movement.

[0169] In the specific embodiment 2, consider the realization of the collision-free swarm movement of 5 micro UAV systems with singular communication modes.

[0170] According to step 1, the system dynamics is described as follows:

[0171]

[0172] where r ij (t)=||x i (t)-x j (t)||; ||·|| represents the Euclidean distance between individual i and individual j; I(·) represents the communication function between individuals; F(·) represents the attraction-repulsion function depending on the position of the individual.

[0173] According to step 2, set the communication function as a non-singular function, that is, I(r)=r -1 ;

[0174] Design the external force F according to step 8 a...

specific Embodiment 2

[0182] In the specific embodiment 2, the individual speed changes of the 5 miniature unmanned aerial vehicles in the singular communication mode are as follows: Figure 4 As shown, five micro-UAV systems with singular communication modes can realize collision-free swarm movement.

[0183] Therefore, combining the collision-free swarm criteria in Step 6, Step 7, and Step 11, it can be obtained that the three micro-UAV systems with non-singular communication mode and the five micro-UAV systems with singular communication mode can realize the collision-free Collision cluster movement.

[0184] In the above-mentioned collision-free control method for micro-UAV clusters based on swarm intelligence, after constructing the dynamic model of the micro-UAV system, set the communication function between individuals and judge whether it is a non-singular function. For the non-singular communication function and For the micro-UAV swarm system under the singular communication function, the...

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Abstract

The invention relates to a micro unmanned aerial vehicle cluster collision-free control method and device based on swarm intelligence. The method comprises the steps that after a dynamical model of a miniature unmanned aerial vehicle system is constructed, communication functions between individuals are set, non-singular functions are judged, external force functions and corresponding energy functional functions are set for miniature unmanned aerial vehicle cluster systems under the non-singular communication functions and the singular communication functions respectively, and after the initial state of the system is set, the cluster scale and the safety distance between individuals are depicted according to the initial state and the energy functional. The collision-free cluster criterion based on the system initial state, the information interaction mode and the attraction-repulsive force is put forward, the cluster response rate, the cluster scale and the safety distance between individuals are described at the same time, and the autonomous collision-free collaborative movement capacity of the miniature unmanned aerial vehicle cluster system in the complex environment can be improved.

Description

technical field [0001] The present application relates to the technical field of autonomous control of UAVs, in particular to a method and device for collision-free control of miniature UAV clusters based on swarm intelligence. Background technique [0002] Unmanned, intelligent and clustered are the inevitable trends in the development of modern aircraft technology. With the deepening application of unmanned and autonomous technologies, the development of autonomous collision-free swarm systems for micro-UAVs has become an important development direction for UAVs. Judging from the current technical level, it is a challenging and key technical problem to truly realize the autonomous collision avoidance of UAVs in complex dynamic environments. [0003] By drawing on the wisdom of biological swarms in nature, it can provide a new technical approach to realize the autonomous control of UAV swarms. One of the most important contents in studying the collision-free behavior of U...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘易成陈茂黎王晓陈一蓬程建飞赵子玉
Owner NAT UNIV OF DEFENSE TECH