Unmanned aerial vehicle cluster obstacle avoidance method based on self-changing gain strategy

Abstract

The invention discloses an unmanned aerial vehicle cluster obstacle avoidance method based on a self-changing gain strategy. The method comprises the steps of obtaining a position coordinate vector pi, a maximum speed vmax, a maximum acceleration amax, an obstacle center position coordinate vector pobst and an obstacle radius robst of an unmanned aerial vehicle i; determining a repulsion radius rrep of the unmanned aerial vehicle and the obstacle according to the maximum speed vmax and the maximum acceleration amax of the unmanned aerial vehicle and the obstacle radius robst; calculating the distance L between the unmanned aerial vehicle i and the obstacle; and when the distance L is smaller than the repulsion radius rrep, adjusting the speed of the unmanned aerial vehicle i by using an adaptive control function, the position coordinate vector pi of the unmanned aerial vehicle i and the obstacle center position coordinate vector pobst, so that the unmanned aerial vehicle i avoids the obstacle. Through obtaining the coordinates of the unmanned aerial vehicle and the obstacle, the speed of the unmanned aerial vehicle can be adjusted, collision between an individual and the obstacle is realized, and the obstacle avoidance problem of the unmanned aerial vehicle in a cluster system is solved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle swarm control, and in particular relates to an obstacle avoidance method for an unmanned aerial vehicle swarm with an automatic variable gain strategy. Background technique [0002] With the development of mechanical and electronic technology and control algorithms, more and more drones have entered people's field of vision and played an increasingly important role, especially in the fields of agriculture, ground remote sensing, air logistics, and military surveillance. Compared with traditional aircraft, the biggest feature of UAV is that it adopts program control or remote sensing control, and the cost and risk are lower. However, a single UAV often has a limited load in order to meet the lightweight requirements. For example, military reconnaissance UAVs can only carry a certain amount of fuel and weapons. At the same time, for a single UAV, it is difficult to efficiently compl...

AI Technical Summary

Problems solved by technology

If the gain item is too large, it will cause shocks. At the same time, the speed of the UAV changes too drastically, and the safety of cluster flight is threatened.

The gain term is too small to prevent collisions in time

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