Method for multi-unmanned aerial vehicle formation to pass through frame-shaped obstacle

Abstract

The invention discloses a method for a multi-unmanned aerial vehicle formation to pass through a frame-shaped obstacle, and the method comprises the steps: obtaining the distance information between the frame-shaped obstacle and the unmanned aerial vehicle formation in real time in the flight process of the unmanned aerial vehicle formation, and the displacement information of the unmanned aerial vehicle formation; constructing a relative position model of the frame-shaped obstacle and the unmanned aerial vehicle formation; constructing an unmanned aerial vehicle speed control model; constructing a parameter model based on the distance information and displacement information of the unmanned aerial vehicle formation and the relative position model of the frame-shaped obstacle and the unmanned aerial vehicle formation; according to the parameter model, constructing a position estimation model of a frame-shaped obstacle and a relative position estimation model between unmanned aerial vehicle formations; and according to the constructed position estimation model for the frame-shaped obstacle and the relative position estimation model between the unmanned aerial vehicle formations, designing a controller for the unmanned aerial vehicle formations to pass through the obstacle by combining the unmanned aerial vehicle speed control model, and performing speed control on the flight of the unmanned aerial vehicle formations by using the controller, so that the unmanned aerial vehicle formations pass through the frame-shaped obstacle.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for traversing frame-shaped obstacles in a formation of multiple unmanned aerial vehicles. Background technique [0002] In the past decade, UAVs have been widely used in civil, industrial and military fields. The collaborative execution of multiple UAVs to perform tasks such as crossing, rescue, and supply has always been a research hotspot. Multiple UAVs form a UAV swarm, and the information exchange and sharing between UAVs can be realized through aerial networking. Combined with flight control, intelligent learning and other technologies to realize the coordinated execution of tasks by UAV swarms, give full play to the advantages of a single UAV, so as to meet the needs of complex and diverse tasks. Compared with a single UAV, a multi-UAV swarm has higher robustness, redundancy and scalability when performing tasks. At the same time, the execution o...

AI Technical Summary

Problems solved by technology

[0008] Without exception, all of the above require at least one kind of GPS or camera to achieve the effect of formation traversal, and the above-mentioned solutions are difficult to achieve in unknown environments where the GPS is limited and the camera is dim. Realize the effect of formation crossing

Images