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Unmanned aerial vehicle cluster overall obstacle avoidance method based on behavior control method

A control method and UAV technology, applied in control/regulation systems, non-electric variable control, three-dimensional position/channel control, etc., can solve the problems of UAV swarm splitting and inability to exert the overall advantages of UAV swarms, etc.

Pending Publication Date: 2022-05-24
SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
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Problems solved by technology

However, the problem with these methods is that when the obstacles are large, the UAV cluster will be split for a long time, and the overall advantages of the UAV cluster cannot be exerted.

Method used

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  • Unmanned aerial vehicle cluster overall obstacle avoidance method based on behavior control method
  • Unmanned aerial vehicle cluster overall obstacle avoidance method based on behavior control method
  • Unmanned aerial vehicle cluster overall obstacle avoidance method based on behavior control method

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Embodiment Construction

[0033] In order to make the objectives, technical solutions and advantages of the implementation of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, embodiments of the present application. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicle cluster control, and particularly relates to an unmanned aerial vehicle cluster overall obstacle avoidance method based on a behavior control method. Firstly, a lattice formation control method is designed by utilizing a behavior control method, then formation boundary constraint is added on the basis of the lattice formation, each unmanned aerial vehicle in a cluster is controlled to try to enter an area defined by boundaries, and then formation control of dense formation flight is formed. And finally, a new route planning method is designed based on a particle swarm algorithm, a safe and drivable channel matched with the formation width is planned for the unmanned aerial vehicle cluster in an area where obstacles exist, the planned channel serves as consensus information of the unmanned aerial vehicle cluster, and overall obstacle avoidance of the unmanned aerial vehicle cluster is achieved.

Description

technical field [0001] The application belongs to the technical field of swarm control of unmanned aerial vehicles, and in particular relates to an overall obstacle avoidance method for swarms of unmanned aerial vehicles based on a behavior control method. Background technique [0002] UAV swarms are generally composed of a large number of small UAVs with autonomous control capabilities, which have the characteristics of large functional redundancy, flexible combat use, and low cost of use. UAVs maintain a certain formation to fly in formation. In recent years, the control technology of UAV swarm formation has become a hot research field. At present, the main research methods are leader-following method, virtual structure method and behavior control method. [0003] Due to the limited communication and computing capabilities of each UAV, a single UAV can only use the UAV information in the communication neighborhood to decide a reasonable flight path to adjust its flight di...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘述艺田静刘云飞张雪李思凝
Owner SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
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