Unmanned aerial vehicle cluster control method and system, terminal equipment and storage medium

Abstract

The invention discloses an unmanned aerial vehicle cluster control method and system, terminal equipment and a storage medium. The method comprises the following steps: acquiring flight state information of unmanned aerial vehicles in an unmanned aerial vehicle cluster; the unmanned aerial vehicle cluster comprises a plurality of unmanned aerial vehicle groups, and each unmanned aerial vehicle group comprises at least one host and at least one slave; constructing a cluster member model and a real-time dynamic model according to the flight state information of the unmanned aerial vehicle; and using the cluster member model and the real-time dynamic model to control the flight of the unmanned aerial vehicle cluster. According to the unmanned aerial vehicle cluster control method provided by the invention, a parallel control mode is adopted, so that the complexity of task planning of the unmanned aerial vehicle cluster can be greatly reduced, and a control effect with higher collaboration is realized. Meanwhile, the communication bandwidth can be reduced, and the method has the advantages of being high in real-time performance and low in cost.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster control method, system, terminal equipment and storage medium. Background technique [0002] With the development of UAV swarm technology, the size of swarms used in various researches is increasing day by day. Usually, as the number scale increases, the difficulty of collaboration increases exponentially, and there is a ceiling effect on system performance, such as convergence and stability. [0003] At present, the commonly used cooperative control methods are mainly the pilot following method and the artificial potential field method. The pilot following method adjusts the flight of the follower drone by setting the preset flight speed of the leader drone in the drone cluster. Velocity, constructing a vector field according to the position of each UAV, calculating the expected flight path angle and its rate of change...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a UAV cluster control method, system, terminal equipment and readable storage medium to solve the problems of poor real-time performance and poor control effect existing in the existing UAV cooperative control method

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