Formation obstacle avoidance method and device
A technology of obstacles and track points, applied in the field of flight control, can solve problems such as inability to avoid obstacles accurately
Pending Publication Date: 2022-03-01
BEIJING RUNKE GENERAL TECH
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[0005] In view of this, the embodiment of the present invention provides a formation obstacle avoidance method and device to solve the problem of inability to accurately avoid obstacles in the prior art
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[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0045]In this application, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes none. other elements specifically listed, or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comp...
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The invention provides a formation obstacle avoidance method and device. The method comprises the following steps: acquiring a flight path input by a user, a formation mode, an obstacle area and the number of following unmanned aerial vehicles; acquiring track point information of each following unmanned aerial vehicle in real time when the following unmanned aerial vehicles follow the pilot unmanned aerial vehicle to perform flight simulation according to the formation mode; and when it is determined that the initial track point is in the obstacle area, determining a target track point for obstacle avoidance based on the track point information and the obstacle area so as to follow the unmanned aerial vehicle to fly. According to the scheme, in the simulation flight process of the formation unmanned aerial vehicles, track point information of each following unmanned aerial vehicle is obtained in real time; and when it is determined that the initial track point is in the obstacle area, the position of the initial track point of the following unmanned aerial vehicle at the next moment is changed through the track point information and the obstacle area, so that a target track point for obstacle avoidance is determined. In this way, the unmanned aerial vehicles can accurately avoid obstacles when the formation executes tasks.
Description
technical field [0001] The invention relates to the technical field of flight control technology, in particular to a formation obstacle avoidance method and device. Background technique [0002] When the task is complex and the flight area is large, the overall task can be divided into some small tasks, and these tasks are sent to different UAVs in the formation, so that the role of the UAV formation in performing tasks will be more effective. bigger and bigger. In the process of multi-UAV formation, each UAV needs to avoid external objects, such as radar, and also needs to avoid the interaction of UAVs, so it is necessary to plan the formation of UAVs. [0003] At present, the obstacle avoidance of multi-UAV formation often adopts the pilot-following method, that is, the leader-wingman method, in order to set a certain UAV in the formation as the leader, responsible for the task of trajectory planning and generation of the formation, etc. The other aircraft track the lead...
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IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 周钊宋成鑫向小玲齐海超
Owner BEIJING RUNKE GENERAL TECH